Debt - Additional Information (Detail) - USD ($) $ in Thousands | Feb. 23, 2021 | Mar. 05, 2019 | Dec. 31, 2020 | Dec. 31, 2019 | Aug. 03, 2018 | May 31, 2018 | Dec. 31, 2016 |
Debt Instrument [Line Items] | | | | | | | |
Face value of term loan | | | $ 30,000 | $ 30,000 | | | |
Loan final repayment exit fees payable | | | $ (3,277) | (3,277) | | | |
Loan agreement, covenant noncompliance penalty | | | 5.00% | | | | |
Loan agreement, covenant description | | | The loan includes customary events of default, including failure to pay amounts due, breaches of covenants and warranties, material adverse effect events, certain cross defaults and judgments, and insolvency. | | | | |
Loan agreement, covenant compliance | | | and accelerate the maturity of the debt. | | | | |
Oxford Loan [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, aggregate borrowing capacity | | | | | | | $ 25,000 |
Loan agreement, floating rate terms | | | floating rate per annum equal to the greater of either the 30-day U.S. Dollar LIBOR reported in the Wall Street Journal plus 6.41% or 6.95%. | | | | |
Principal and interest payment period | | | 30 months | | | | |
Percentage of exit fee on principal balance | | | 7.50% | | | | |
Loan final repayment exit fees payable | | | $ 1,900 | | | | |
Loan origination fees and debt issuance costs | | | | | | | 400 |
Repayments of loan agreement exit fee | | | | $ 900 | | | |
Oxford Loan [Member] | Minimum [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, interest rate | | | 6.95% | | | | |
Oxford Loan [Member] | LIBOR [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, percentage to be added to the interest rate under condition | | | 6.41% | | | | |
Oxford Loan [Member] | Tranche A [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Face value of term loan | | | | | | | $ 15,000 |
Oxford Loan [Member] | Tranche B [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan final repayment exit fees payable | | | $ 100 | | | | |
Oxford Loan [Member] | Amended Tranche A [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Face value of term loan | | | 31,194 | | | | |
Loan final repayment exit fees payable | | | $ 2,083 | | | | |
Amendment [Member] | Tranche B [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Face value of term loan | | | | | | $ 5,000 | |
Amendment [Member] | Tranche C [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Face value of term loan | | | | | $ 5,000 | | |
Amended Oxford Loan [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, aggregate borrowing capacity | | $ 35,000 | | | | | |
Loan agreement, floating rate terms | | | floating rate per annum equal to the greater of either the 30-day U.S. Dollar LIBOR reported in the Wall Street Journal plus 6.64% or 9.15%. | | | | |
Principal and interest payment period | | | 36 months | | | | |
Percentage of exit fee on principal balance | | | 7.50% | | | | |
Loan final repayment exit fees payable | | | $ 2,300 | | | | |
Loan origination fees and debt issuance costs | | | $ 200 | | | | |
Loan, maturity period | | | Mar. 1, 2024 | | | | |
Loan outstanding | | 23,300 | | | | | |
Borrowings from loan agreement | | 6,700 | | | | | |
Loan final repayment additional exit fees payable | | | $ 1,000 | | | | |
Prepayment of loan fee, description | | | calculated as of the loan origination date, equal to (i) 2.0% of the loan prepaid during the first 12 months and (ii) 1.0% of the loan prepaid in months 13-24. | | | | |
Amended Oxford Loan [Member] | Loan Prepaid During First 12 Months [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument prepayment fee percentage | | | 2.00% | | | | |
Amended Oxford Loan [Member] | Loan Prepaid During 13 to 24 Months [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Debt instrument prepayment fee percentage | | | 1.00% | | | | |
Amended Oxford Loan [Member] | Food and Drug Administration [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Percentage of success fee | | | 5.00% | | | | |
Success fees payable maximum period after approval | | | 30 days | | | | |
Amended Oxford Loan [Member] | Minimum [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, interest rate | | | 9.15% | | | | |
Amended Oxford Loan [Member] | LIBOR [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, percentage to be added to the interest rate under condition | | | 6.64% | | | | |
Amended Oxford Loan [Member] | Amended Tranche A [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Loan agreement, aggregate borrowing capacity | | 30,000 | | | | | |
Amended Oxford Loan [Member] | Amended Tranche A [Member] | Food and Drug Administration [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Fee payable maximum period from funding | | | 10 years | | | | |
Amended Oxford Loan [Member] | Amended Tranche B [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Principal and interest payment period | | | 24 months | | | | |
Loan agreement, remaining borrowing capacity | | $ 5,000 | | | | | |
Extended term of interest only payment period | | | 1 year | | | | |
Fifth Amended Oxford Loan [Member] | Subsequent Event [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Principal and interest payment period | 19 months | | | | | | |
Interest payment period | 17 months | | | | | | |
Fifth Amended Oxford Loan [Member] | Tranche B [Member] | Subsequent Event [Member] | | | | | | | |
Debt Instrument [Line Items] | | | | | | | |
Principal and interest payment period | 13 months | | | | | | |
Interest payment period | 6 months | | | | | | |