Summary of Significant Accounting Policies - Additional Information (Detail)	12 Months Ended
	Dec. 31, 2019 USD ($) Subsidiary shares	Dec. 31, 2018 USD ($) shares	Dec. 31, 2017 USD ($) shares	Jan. 01, 2019 USD ($)
Summary of Significant Accounting Policies [Line Items]
Wholly-owned subsidiaries of Antares Pharma | Subsidiary	2
Right-of-use assets	$ 5,463,000
Lease liability	6,690,000
Cash and cash equivalents, remeasured and reported at fair value	11,153,000	$ 20,569,000
Carrying value of short-term investments	22,520,000	0
Write-offs to bad debt expense	0	0	$ 0
Allowance for doubtful accounts balance	0	0
Inventory reserve	464,000	847,000
Inventory written-off	708,000	255,000
Increase in inventory reserve	325,000	592,000	356,000
Installment received in connection with the sale and transfer	5,000,000
Revenue not yet recognized recorded in contract assets	1,534,000	204,000
Depreciation expense	$ 2,205,000	2,125,000	1,536,000
Finite-lived intangible assets, amortization method	straight-line basis
Patent rights	$ 3,661,000	3,794,000
Accumulated amortization of patents	3,183,000	2,963,000
Aggregate patent amortization expense, 2020	95,000
Aggregate patent amortization expense, 2021	89,000
Aggregate patent amortization expense, 2022	83,000
Aggregate patent amortization expense, 2023	68,000
Aggregate patent amortization expense, 2024	49,000
Amortization expense	352,000	599,000	568,000
Goodwill	1,095,000	1,095,000
Goodwill impairment loss	$ 0	$ 0	$ 0
Cash discount to incentive for prompt payment	2.00%
Cash discounts offered by reducing accounts receivable	100.00%
Remaining performance obligations	$ 7,500,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Explanation	The Company expects to recognize revenue on the remaining performance obligations over the next three years, with the majority being recognized in the next twelve months
Method used for fair value assumption	Black-Scholes option valuation model
Potentially dilutive securities excluded from dilutive loss per share | shares	17,103,000	17,147,000	14,761,000
Cash, cash equivalents and investments	$ 45,721,000
Licensing and Development Revenue [Member]
Summary of Significant Accounting Policies [Line Items]
Revenue recognized	$ 1,000,000.0
Teva [Member]
Summary of Significant Accounting Policies [Line Items]
Future net profits from commercial sales percent	50.00%
Minimum [Member]
Summary of Significant Accounting Policies [Line Items]
Estimated useful lives	3 years
Capitalized cost being amortized over periods	5 years
Royalty payment period	45 days
Maximum [Member]
Summary of Significant Accounting Policies [Line Items]
Estimated useful lives	10 years
Capitalized cost being amortized over periods	15 years
Royalty payment period	60 days
ASU 2016-02 [Member]
Summary of Significant Accounting Policies [Line Items]
Right-of-use assets				$ 1,000,000.0
Lease liability				$ 1,000,000.0