I am a bit confused as to how succinct verification is possible with transparent SNARKs (i.e., SNARKs without trusted setup).
As I understand it, a transparent SNARK proof $\pi$ allows a verifier given a circuit $C$ and an input $x$ to verify that there exists an input $w$ such that $C(x, w)=1$. Succinctness should mean, in particular, that the time to verify $\pi$ is much smaller than $|C|$. But doesn't the verfier at least need to read the description of $C$? And doesn't that require at least time $|C|$?
(Note: with trusted setup, there is a verification key $vk$ that depends on $C$; the verifier takes $vk$ as input in addition to $\pi$. So I understand how succinct verification is possible there, since $vk$ ``encodes'' $C$. My question is specifically about the transparent setting.)