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Debt - Additional Information (Detail) - USD ($)
9 Months Ended
Aug. 18, 2021
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
May 31, 2022
Oct. 31, 2021
Debt Instrument [Line Items]            
Long-term debt, net of debt issuance costs   $ 7,721,000   $ 10,348,000    
Interest payable current   167,000   168,000    
Secured Debt [Member] | Hercules Capital Inc [Member]            
Debt Instrument [Line Items]            
Debt instrument, frequency of principal and interest payment monthly          
Debt instrument interest only payments maturity date Mar. 01, 2023          
Debt instrument, interest rate 3.25%          
Debt instrument, face amount $ 50,000,000       $ 5,000,000  
Debt instrument maturity date Aug. 01, 2025          
Amortization expense   $ 285,000 $ 281,000      
Long term debt base rate percentage 8.95%          
Repayments of debt $ 893,000          
Debt issuance costs $ 518,000          
Debt instrument, interest rate terms   The outstanding principal bears interest at the greater of (a) 8.95% or (b) 8.95% plus the prime rate minus 3.25%.        
Percentage of outstanding principal upon repayment of the loan 5.95%          
Proceeds from equity financing $ 40,000,000          
Long-term debt, net of debt issuance costs   $ 14,300,000   $ 14,900,000    
Long term debt variable interest rate percentage 8.95% 14.20%   13.20%    
Interest payable current   $ 167,000   $ 168,000    
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche One [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount $ 15,000,000          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Two [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount 10,000,000          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Three [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount 10,000,000          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Four [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount $ 15,000,000          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Five [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount           $ 10,000,000