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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, 2020
USD ($)
$ / shares
shares
Shares Underlying Outstanding Options  
Beginning balance | shares 8,006
Options granted | shares 2,003
Options exercised | shares (72)
Ending balance | shares 8,505
Vested and expected to vest at December 31, 2020 | shares 8,314
Exercisable at December 31, 2020 | shares 5,551
Weighted-Average Exercise Price Per Share  
Beginning balance | $ / shares $ 13.86
Options granted | $ / shares 5.76
Options exercised | $ / shares 4.20
Ending balance | $ / shares 11.57
Vested and expected to vest at December 31, 2020 | $ / shares 11.69
Exercisable at December 31, 2020 | $ / shares $ 14.13
Weighted-Average Remaining Contractual Term (years)  
Balance at December 31, 2020 4 years 3 months
Vested and expected to vest at December 31, 2020 4 years 2 months 15 days
Exercisable at December 31, 2020 3 years 4 months 6 days
Aggregate Intrinsic Value  
Balance at December 31, 2020 | $ $ 616
Vested and expected to vest at December 31, 2020 | $ 607
Exercisable at December 31, 2020 | $ $ 516
Unvested  
Shares Underlying Outstanding Options  
Options cancelled | shares (356)
Weighted-Average Exercise Price Per Share  
Options cancelled | $ / shares $ 7.24
Vested  
Shares Underlying Outstanding Options  
Options cancelled | shares (1,076)
Weighted-Average Exercise Price Per Share  
Options cancelled | $ / shares $ 19.75