Stockholders' Equity - Additional Information (Detail) | Jan. 01, 2019shares | Jan. 02, 2018shares | Jul. 31, 2019USD ($)$ / sharesshares | Jan. 31, 2019USD ($)$ / sharesshares | Jun. 30, 2018USD ($)ArithmeticaverageDay$ / sharesshares | Nov. 30, 2017USD ($) | Dec. 31, 2019USD ($)PurchasePeriod$ / sharesshares | Dec. 31, 2018USD ($)$ / sharesshares | Feb. 27, 2020shares | Dec. 31, 2017USD ($) | Apr. 30, 2013 |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Shares of common stock issued | | | | | | | 111,393,000 | 37,474,000 | | | |
Preferred stock, shares issued | | | | | | | 20,000 | 18,000 | | | |
Preferred stock, shares authorized | | | | | | | 10,000,000 | 10,000,000 | | | |
Preferred stock, shares outstanding | | | | | | | 19,714 | 17,697 | | | |
Common stock, voting rights | | | | | | | One vote per share | | | | |
Proceeds from issuance of common stock through controlled equity offering facilities, net | $ | | | | | | | $ 32,022,000 | | | | |
Options granted, Number of Shares | | | | | | | 1,716,000 | | | | |
Shares Available for Future Grant | | | | | | | 1,422,000 | | | | |
Share of common stock value | $ | | | | | | | | | | $ 25,000 | |
Number of shares issued under employee stock purchase plan | | | | | | | 133,322 | 104,099 | | | |
Subsequent Event [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Number of warrants, expired | | | | | | | | | 10,245 | | |
2011 Plan [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Common stock available for issuance automatic increase period | | | | | | | 10 years | | | | |
Common stock available for issuance automatic increase maximum number of shares | | | | | | | 4.00% | | | | |
Shares of common stock available for issuance | 1,498,960 | 1,371,308 | | | | | | | | | |
Options granted, Number of Shares | | | | | | | 1,715,518 | | | | |
Shares Available for Future Grant | | | | | | | 1,154,817 | | | | |
Stock Option Plans [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Shares Available for Future Grant | | | | | | | 1,155,000 | | | | |
Stock Option Plans [Member] | New Employees [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Option exercisable on first anniversary of vesting commencement date, percent | | | | | | | 25.00% | | | | |
Portion of option exercisable for each month over vesting percent | | | | | | | 2.083% | | | | |
Stock option plans, vesting period | | | | | | | 4 years | | | | |
Vesting rights | | | | | | | New employees, of which 25% of the shares subject to such options become exercisable on the first anniversary of the vesting commencement date, and 1/48th of the shares subject to such options become exercisable each month over the remainder of the four-year vesting period | | | | |
Stock Option Plans [Member] | Existing Employees [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Vesting rights | | | | | | | Existing employees with various vesting schedules over three to four years | | | | |
Stock Option Plans [Member] | New Non-Employee Board Members [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Portion of option exercisable for each month over vesting percent | | | | | | | 4.166% | | | | |
Stock option plans, vesting period | | | | | | | 2 years | | | | |
Vesting rights | | | | | | | New non-employee members of the board of directors, of which 50% of the shares subject to such options become exercisable on each of the first and second anniversary of the vesting commencement date | | | | |
Stock Option Plans [Member] | Continuing Non-Employee Board Members [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Portion of option exercisable for each month over vesting percent | | | | | | | 8332.00% | | | | |
Stock option plans, vesting period | | | | | | | 1 year | | | | |
Vesting rights | | | | | | | Continuing non-employee members of the board of directors, of which 1/24th of the shares subject to such options become exercisable each month following the date of grant over a two-year vesting period | | | | |
Maximum [Member] | Stock Option Plans [Member] | Existing Employees [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Stock option plans, vesting period | | | | | | | 4 years | | | | |
Minimum [Member] | Stock Option Plans [Member] | Existing Employees [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Stock option plans, vesting period | | | | | | | 3 years | | | | |
Series F Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | | | | $ 600 | | | | |
Shares issued upon conversion | | | | | | | 1,000 | | | | |
Preferred stock, shares outstanding | | | | | | | 8,333 | | | | |
Series E Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | | | | $ 500 | | | | |
Shares issued upon conversion | | | | | | | 1,000 | | | | |
Preferred stock, shares outstanding | | | | | | | 10,000 | | | | |
Numbers of shares converted | | | | | | | 7,000 | | | | |
Series D Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | | | | $ 2,000 | | | | |
Shares issued upon conversion | | | | | | | 1,000 | | | | |
Preferred stock, shares outstanding | | | | | | | 1,381 | | | | |
Numbers of shares converted | | | | | | | 1,119 | | | | |
Series D, Series E and Series F Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Preferred stock, payment to stock holders in the event of liquidation, dissolution or winding up preference per share | $ / shares | | | | | | | $ 0.0001 | | | | |
Preferred stock, voting rights | | | | | | | Shares of Series D, Series E, and Series F Stock will generally have no voting rights, except as required by law and except that the consent of holders of a majority of the outstanding Series D and Series E Stock will be required to amend the terms of the Series D, Series E, and Series F Stock. | | | | |
Series D, Series E and Series F Convertible Preferred Stock [Member] | Maximum [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Percentage of outstanding common stock | | | | | | | 9.98% | | | | |
Series B Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Preferred stock, shares outstanding | | | | | | | 0 | | | | |
Numbers of shares converted | | | | | | | 13,639 | | | | |
Series C Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Preferred stock, shares outstanding | | | | | | | 0 | | | | |
Numbers of shares converted | | | | | | | 1,558 | | | | |
Common Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Common stock, shares issued upon conversion of convertible preferred stock | | | | | | | 11,950,165 | | | | |
Number of shares issued under employee stock purchase plan | | | | | | | 134,000 | 104,000 | | | |
Underwritten Public Offering [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Shares of common stock issued | | | 38,333,717 | 23,000,000 | | | | | | | |
Proceeds from issuance of common and convertible preferred stock, gross | $ | | | $ 28,000,000 | $ 20,000,000 | | | | | | | |
Proceeds from issuance of common and convertible preferred stock, net | $ | | | $ 26,100,000 | $ 18,500,000 | | | | | | | |
Underwritten Public Offering [Member] | Series F Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Preferred stock, shares issued | | | 8,333 | | | | | | | | |
Shares issued upon conversion | | | 1,000 | | | | | | | | |
Underwritten Public Offering [Member] | Series F Convertible Preferred Stock [Member] | Maximum [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Percentage of outstanding common stock | | | 9.98% | | | | | | | | |
Underwritten Public Offering [Member] | Series E Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Preferred stock, shares issued | | | | 17,000 | | | | | | | |
Shares issued upon conversion | | | | 1,000 | | | | | | | |
Underwritten Public Offering [Member] | Series E Convertible Preferred Stock [Member] | Maximum [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Percentage of outstanding common stock | | | | 9.98% | | | | | | | |
Underwritten Public Offering [Member] | Common Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | $ 0.60 | $ 0.50 | | | | | | | |
Underwritten Public Offering [Member] | Preferred Stock [Member] | Series F Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | $ 600 | | | | | | | | |
Underwritten Public Offering [Member] | Preferred Stock [Member] | Series E Convertible Preferred Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | $ 500 | | | | | | | |
Over-Allotment Option [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Shares of common stock issued | | | 5,000,050 | | | | | | | | |
Controlled Equity Offering Facilities [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Common stock sales agreement, date | | | | | | | 2011-08 | | | | |
Proceeds from issuance of common shares, gross | $ | | | | | | | $ 500,000 | $ 1,400,000 | | | |
Proceeds from issuance of common stock through controlled equity offering facilities, net | $ | | | | | | | 500,000 | $ 1,400,000 | | | |
Issuance of common stock, remaining offering value | $ | | | | | | | $ 43,100,000 | | | | |
Controlled Equity Offering Facilities [Member] | Common Stock [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | | | | $ 1.19 | $ 2.38 | | | |
Common stock, shares sold | | | | | | | 400,000 | 600,000 | | | |
Additional Controlled Equity Offerings Facilities [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Issuance of common stock, commission percentage, maximum | | | | | | 3.00% | | | | | 3.00% |
Common stock sales agreement further amended, date | | | | | | | 2017-11 | | | | |
Increase in aggregate controlled equity offering agreement as per amendment | $ | | | | | | $ 45,000,000 | | | | | |
CSPA [Member] | Aspire [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Proceeds from issuance of common stock through controlled equity offering facilities, net | $ | | | | | $ 500,000 | | | | | | |
Common stock purchase agreement period | | | | | 24 months | | | | | | |
Average lowest closing sales price | Arithmeticaverage | | | | | 3 | | | | | | |
Consecutive business days | Day | | | | | 10 | | | | | | |
Percentage of volume weighted average price | | | | | 97.00% | | | | | | |
Request to purchase shares per business day | | | | | 2,000,000 | | | | | | |
Number of shares of common stock issued as commitment fee | | | | | 212,329 | | | | | | |
Commitment fee | $ | | | | | $ 400,000 | | | | | | |
Other transaction costs | $ | | | | | 100,000 | | | | | | |
CSPA [Member] | Aspire [Member] | Registration Rights Agreement [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | | | | | $ 2.20 | | | |
Common stock, shares sold | | | | | | | 0 | 2,390,640 | | | |
Proceeds from issuance of common stock through controlled equity offering facilities, net | $ | | | | | | | | $ 4,600,000 | | | |
Remaining purchase commitment | $ | | | | | | | $ 10,900,000 | | | | |
CSPA [Member] | Maximum [Member] | Aspire [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Issuance of common stock, offering value | $ | | | | | 15,500,000 | | | | | | |
Commitment to purchase additional common shares | $ | | | | | $ 15,000,000 | | | | | | |
Percentage of additional trading volume of shares | | | | | 30.00% | | | | | | |
CSPA [Member] | Minimum [Member] | Aspire [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Closing price of common stock | $ / shares | | | | | $ 0.25 | | | | | | |
CSPA [Member] | Common Stock [Member] | Aspire [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Price per common share | $ / shares | | | | | $ 2.19 | | | | | | |
Common stock, shares sold | | | | | 228,311 | | | | | | |
CSPA [Member] | Common Stock [Member] | Maximum [Member] | Aspire [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Shares of common stock to purchase per business day | | | | | 200,000 | | | | | | |
Employee Stock Purchase Plan [Member] | | | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | | | |
Common stock available for issuance automatic increase period | | | | | | | 10 years | | | | |
Common stock available for issuance automatic increase maximum number of shares | | | | | | | 1.00% | | | | |
Shares of common stock available for issuance | 336,000 | | | | | | | | | | |
Shares Available for Future Grant | | | | | | | 266,983 | | | | |
Purchase price of a share as a percentage of fair market value | | | | | | | 85.00% | | | | |
Duration of offering period | | | | | | | 12 months | | | | |
Number of purchase periods in each offering period | PurchasePeriod | | | | | | | 2 | | | | |
Duration of each purchase period | | | | | | | 6 months | | | | |