Stockholders' Equity - Additional Information (Detail) | Jan. 01, 2020shares | Jan. 01, 2019shares | Mar. 05, 2011 | Jul. 31, 2020USD ($)$ / sharesshares | Nov. 30, 2017USD ($) | Dec. 31, 2020USD ($)PurchasePeriod$ / sharesshares | Dec. 31, 2019USD ($)$ / sharesshares | Jun. 30, 2018USD ($) | Dec. 31, 2017USD ($) |
Stockholders Equity [Line Items] | | | | | | | | | |
Shares of common stock issued | | | | | | 18,108,000 | 11,139,000 | | |
Proceeds from issuance of common stock, net | $ | | | | | | $ 12,633,000 | $ 32,022,000 | | |
Preferred stock, shares authorized | | | | | | 10,000,000 | 10,000,000 | | |
Preferred stock, shares outstanding | | | | | | 10,248 | 19,714 | | |
Common stock, voting rights | | | | | | one vote per share | | | |
Options granted, Number of Shares | | | | | | 337,000 | | | |
Shares Available for Future Grant | | | | | | 431,000 | | | |
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 | 445,572 | 149,896 | | | | | | | |
Options granted, Number of Shares | | | | | | 337,087 | | | |
Shares Available for Future Grant | | | | | | 398,550 | | | |
Stock Option Plans [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Shares Available for Future Grant | | | | | | 399,000 | | | |
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 | | | | | | 8.333% | | | |
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 | | | |
Minimum [Member] | Stock Option Plans [Member] | Existing Employees [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Stock option plans, vesting period | | | | | | 3 years | | | |
Maximum [Member] | Stock Option Plans [Member] | Existing Employees [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Stock option plans, vesting period | | | | | | 4 years | | | |
Common Stock [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Conversion of preferred stock to common stock, shares | | | | | | 946,600 | 1,195,000 | | |
Number of shares issued under employee stock purchase plan | | | | | | 22,000 | 13,000 | | |
Series D Convertible Preferred Stock [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Preferred stock, shares outstanding | | | | | | 0 | | | |
Convertible preferred stock, shares converted | | | | | | 1,381 | | | |
Series E Convertible Preferred Stock [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Price per common share | $ / shares | | | | | | $ 500 | | | |
Preferred stock, shares outstanding | | | | | | 1,915 | | | |
Convertible preferred stock, shares converted | | | | | | 8,085 | | | |
Shares issued upon conversion | | | | | | 100 | | | |
Series F Convertible Preferred Stock [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Price per common share | $ / shares | | | | | | $ 600 | | | |
Preferred stock, shares outstanding | | | | | | 8,333 | | | |
Shares issued upon conversion | | | | | | 100 | | | |
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 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 E Stock will be required to amend the terms of the Series E and Series F Stock. | | | |
Series E and Series F Convertible Preferred Stock [Member] | Minimum [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Percentage of outstanding common stock | | | | | | 9.98% | | | |
Underwritten Offering [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Shares of common stock issued | | | | 5,999,999 | | | | | |
Price per common share | $ / shares | | | | $ 2.30 | | | | | |
Proceeds from issuance of common stock, gross | $ | | | | $ 13,800,000 | | | | | |
Proceeds from issuance of common stock, net | $ | | | | $ 12,600,000 | | | | | |
Option To Purchase Shares Of Over-Allotments [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Shares of common stock issued | | | | 782,608 | | | | | |
Controlled Equity Offering Facilities [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Proceeds from issuance of common stock, gross | $ | | | | | | $ 0 | $ 500,000 | | |
Proceeds from issuance of common stock, net | $ | | | | | | $ 0 | $ 500,000 | | |
Common stock sales agreement, date | | | | | | 2011-08 | | | |
Controlled Equity Offering Facilities [Member] | Common Stock [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Price per common share | $ / shares | | | | | | $ 0 | $ 11.90 | | |
Common stock, shares sold | | | | | | 0 | | | |
Controlled Equity Offering Facilities [Member] | Common Stock [Member] | Maximum [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Common stock, shares sold | | | | | | | 100,000 | | |
Additional Controlled Equity Offerings Facilities [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Common stock sales agreement further amended, date | | | | | | 2017-11 | | | |
Increase in aggregate controlled equity offering agreement as per amendment | $ | | | | | $ 45,000,000 | | | | |
Issuance of common stock through equity facilities commission percentage, maximum | | | | | 3.00% | | | | |
CSPA [Member] | Registration Rights Agreement [Member] | Aspire [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Common stock, shares sold | | | | | | 0 | 0 | | |
Date of termination | | | | | | Jun. 25, 2020 | | | |
CSPA [Member] | Maximum [Member] | Aspire [Member] | | | | | | | | | |
Stockholders Equity [Line Items] | | | | | | | | | |
Issuance of common stock, offering value | $ | | | | | | | | $ 15,500,000 | |
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 | 27,848 | | | | | | | | |
Shares Available for Future Grant | | | | | | 32,234 | | | |
Purchase price of a share as a percentage of fair market value | | | 85.00% | | | 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 | | | |
Share of common stock value | $ | | | | | | | | | $ 25,000 |
Number of shares issued under employee stock purchase plan | | | | | | 22,413 | 13,332 | | |