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Notes Payable - Term Loan Agreement - Additional Information (Detail) - USD ($)
1 Months Ended 9 Months Ended 24 Months Ended
Sep. 30, 2019
Mar. 31, 2019
Dec. 31, 2016
Dec. 31, 2022
Sep. 30, 2020
Dec. 31, 2021
Dec. 31, 2020
Common Stock [Member]              
Debt Instrument              
Number of shares issuable for warrants outstanding (in shares) 568,291   528,958        
Exercise price of warrants $ 1.55 $ 4.35 $ 8.06        
CRG [Member] | Term Loan Agreement [Member]              
Debt Instrument              
Proceeds from issuance of long-term debt     $ 40,000,000.0        
Debt term (in years)     6 years        
Debt instrument, term of interest-only payments (in years)     4 years        
Final fee as a percentage of the principal outstanding (as a percent) 10.00%   8.00%   10.00%    
Annual fixed rate (as a percent)     11.50%        
Deferred interest rate (as a percent)     3.50%        
Debt instrument, prepayment fee term (in years)     5 years        
Debt instrument covenant compliance revenue target $ 4,000,000 $ 9,000,000.0          
Additional interest rate, event of default (as a percent)         4.00%    
CRG [Member] | Term Loan Agreement [Member] | Scenario Forecast [Member]              
Debt Instrument              
Debt instrument, quarterly principal payment       $ 12,000,000.0      
Debt instrument covenant compliance revenue target           $ 140,000,000 $ 95,000,000
CRG [Member] | Term Loan Agreement, Amended [Member] | Scenario Forecast [Member]              
Debt Instrument              
Debt instrument covenant compliance revenue target           $ 43,000,000 $ 15,000,000