Income Taxes - Additional Information (Detail) - USD ($)	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Income Tax Contingency [Line Items]
Estimates annual effective tax rate	5.70%
Deferred tax benefit	$ 700,000	$ 600,000
Current tax expense	$ 20,000.00	$ 20,000.00
Effective tax rate	3.80%	2.60%
Unrecognized tax benefits that would affect effective tax rate	$ 0
GILTI income tax	0	$ 0
Foreign Tax Authority | TransEnterix Italia
Income Tax Contingency [Line Items]
Net deferred tax asset	0
Valuation allowance	$ 0