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Equity Plans and Stock-Based Compensation - Option Activity under Stock-Based Compensation Plans (Detail)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Shares Underlying Outstanding Options  
Beginning balance | shares 5,750
Options granted | shares 3,747
Options exercised | shares (10)
Ending balance | shares 8,006
Vested and expected to vest at December 31, 2019 | shares 7,729
Exercisable at December 31, 2019 | shares 4,531
Weighted-Average Exercise Price Per Share  
Beginning balance | $ / shares $ 18.20
Options granted | $ / shares 6.88
Options exercised | $ / shares 5.75
Ending balance | $ / shares 13.86
Vested and expected to vest at December 31, 2019 | $ / shares 14.11
Exercisable at December 31, 2019 | $ / shares $ 18.37
Weighted-Average Remaining Contractual Term (years)  
Balance at December 31, 2019 4 years 5 months 19 days
Vested and expected to vest at December 31, 2019 4 years 4 months 24 days
Exercisable at December 31, 2019 3 years 1 month 2 days
Aggregate Intrinsic Value  
Balance at December 31, 2019 | $ $ 2,125
Vested and expected to vest at December 31, 2019 | $ 1,954
Exercisable at December 31, 2019 | $ $ 3
Unvested  
Shares Underlying Outstanding Options  
Options cancelled | shares (1,278)
Weighted-Average Exercise Price Per Share  
Options cancelled | $ / shares $ 12.54
Vested  
Shares Underlying Outstanding Options  
Options cancelled | shares (203)
Weighted-Average Exercise Price Per Share  
Options cancelled | $ / shares $ 16.52