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Fair Value of Financial Instruments - Fair Value of Financial Instruments (Detail) - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
MidCap Credit Facility    
Financial liabilities:    
Financial liabilities fair value $ 39.6 $ 55.4
Senior Convertible Notes    
Financial liabilities:    
Financial liabilities fair value 234.7  
Mann Group Convertible Notes    
Financial liabilities:    
Financial liabilities fair value 38.1 52.2
Milestone Rights Liability    
Financial liabilities:    
Financial liabilities fair value 19.9 19.8
2024 Convertible Notes    
Financial liabilities:    
Financial liabilities fair value   7.0
Mann Group Promissory Notes    
Financial liabilities:    
Financial liabilities fair value   78.9
PPP Loan    
Financial liabilities:    
Financial liabilities fair value   4.7
Carrying Value | MidCap Credit Facility    
Financial liabilities:    
Financial liabilities fair value 38.7 49.3
Carrying Value | Senior Convertible Notes    
Financial liabilities:    
Financial liabilities fair value 223.6  
Carrying Value | Mann Group Convertible Notes    
Financial liabilities:    
Financial liabilities fair value 18.4 28.0
Carrying Value | Milestone Rights Liability    
Financial liabilities:    
Financial liabilities fair value 5.9 7.3
Carrying Value | 2024 Convertible Notes    
Financial liabilities:    
Financial liabilities fair value   5.0
Carrying Value | Mann Group Promissory Notes    
Financial liabilities:    
Financial liabilities fair value   63.0
Carrying Value | PPP Loan    
Financial liabilities:    
Financial liabilities fair value   4.9
Estimate of Fair Value Measurement | Fair Value, Inputs, Level 3 | MidCap Credit Facility    
Financial liabilities:    
Financial liabilities fair value 39.6 55.4
Estimate of Fair Value Measurement | Senior Convertible Notes | Fair Value, Inputs, Level 3    
Financial liabilities:    
Financial liabilities fair value 234.7  
Estimate of Fair Value Measurement | Mann Group Convertible Notes | Fair Value, Inputs, Level 3    
Financial liabilities:    
Financial liabilities fair value 38.1  
Estimate of Fair Value Measurement | Milestone Rights Liability | Fair Value, Inputs, Level 3    
Financial liabilities:    
Financial liabilities fair value $ 19.9 19.8
Estimate of Fair Value Measurement | 2024 Convertible Notes | Fair Value, Inputs, Level 3    
Financial liabilities:    
Financial liabilities fair value   7.0
Estimate of Fair Value Measurement | Mann Group Promissory Notes | Fair Value, Inputs, Level 3    
Financial liabilities:    
Financial liabilities fair value   78.9
Estimate of Fair Value Measurement | PPP Loan | Fair Value, Inputs, Level 3    
Financial liabilities:    
Financial liabilities fair value   $ 4.7