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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
 9 Months Ended
Sep. 30, 2020
USD ($)
$ / shares
shares
Shares Underlying Outstanding Options  
Beginning balance | shares 8,006
Options granted | shares 1,860
Options exercised | shares (55)
Ending balance | shares 9,170
Vested and expected to vest at September 30, 2020 | shares 8,938
Exercisable at September 30, 2020 | shares 5,870
Weighted-Average Exercise Price Per Share  
Beginning balance | $ / shares $ 13.86
Options granted | $ / shares 5.83
Options exercised | $ / shares 4.32
Ending balance | $ / shares 12.27
Vested and expected to vest at September 30, 2020 | $ / shares 12.43
Exercisable at September 30, 2020 | $ / shares $ 15.23
Weighted-Average Remaining Contractual Term (years)  
Balance at September 30, 2020 4 years 3 months 7 days
Vested and expected to vest at September 30, 2020 4 years 2 months 12 days
Exercisable at September 30, 2020 3 years 2 months 23 days
Aggregate Intrinsic Value  
Balance at September 30, 2020 | $ $ 490
Vested and expected to vest at September 30, 2020 | $ 483
Exercisable at September 30, 2020 | $ $ 412
Unvested  
Shares Underlying Outstanding Options  
Options cancelled | shares (263)
Weighted-Average Exercise Price Per Share  
Options cancelled | $ / shares $ 7.63
Vested  
Shares Underlying Outstanding Options  
Options cancelled | shares (378)
Weighted-Average Exercise Price Per Share  
Options cancelled | $ / shares $ 18.61