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Long-term Debt - Carrying Value and Future Minimum Payments (Detail) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Debt Disclosure [Abstract]    
2022 $ 8,333  
2023 18,167 $ 8,333
2023   18,167
Total future minimum payments 26,500 26,500
Unamortized end of term charge (808) (1,134)
Debt issuance costs (99) (149)
Debt discount related to warrants (76) (113)
Total debt 25,517 25,104
Current portion of long-term debt (4,167)  
Debt facility $ 21,350 $ 25,104