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Commitments and Contingencies - Additional Information (Detail) | 1 Months Ended | 3 Months Ended | 12 Months Ended | 49 Months Ended
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Jul. 31, 2019 USD ($) | Nov. 30, 2017 USD ($) ft² | Sep. 30, 2019 USD ($) ft² € / $ | Jun. 30, 2018 USD ($) | Sep. 30, 2019 USD ($) ft² € / $ shares | Sep. 30, 2019 EUR (€) shares | Sep. 30, 2018 USD ($) | Sep. 30, 2017 USD ($) | Dec. 31, 2023 USD ($)
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Settlement of claim |  |  |  |  | $ 400,000 |  |  |  |
Additional shares of common stock to stockholders | shares |  |  |  |  | 480,059 | 480,059 |  |  |
License agreement commencement date |  |  |  |  | 2006-03 | 2006-03 |  |  |
Exchange rate relating to license payment | € / $ |  |  | 1.0916 |  | 1.0916 |  |  |  |
Future minimum payments associated with license |  |  | $ 1,700,000 |  | $ 1,700,000 |  |  |  |
Rent expense related to operating leases |  |  |  |  | 500,000 |  | $ 500,000 | $ 100,000 |
Acquisition charge for in-process of research and development |  |  |  |  | 890,000 |  | 7,888,000 |  |
Other long-term liabilities |  |  | $ 5,512,000 |  | $ 5,512,000 |  | 5,720,000 |  |
Eden Prairie Minnesota [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Square feet of office and R&D facility | ft² |  | 36,000 | 13,000 |  | 13,000 |  |  |  |
Contractual obligations |  | $ 5,200,000 |  |  |  |  |  |  |
Operating lease agreement term |  | 10 years |  |  |  |  |  |  |
Operating lease agreement commencement date |  | 2018-05 |  |  |  |  |  |  |
CRO [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Contractual obligation to be paid |  |  | $ 11,800,000 |  | $ 11,800,000 |  |  |  |
Embolitech LLC [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Contingent payments upon achievement of regulatory milestones |  |  |  |  | $ 2,000,000 |  |  |  |
Installment payment beginning period |  |  |  |  | 2020-01 | 2020-01 |  |  |
Installment payment ending period |  |  |  |  | 2023-12 | 2023-12 |  |  |
Minimum [Member] | CRO [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Contractual obligation due in next several years |  |  | 35,000,000 |  | $ 35,000,000 |  |  |  |
Maximum [Member] | CRO [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Contractual obligations |  |  | 26,000,000 |  | 26,000,000 |  |  |  |
Contractual obligation due in next several years |  |  | 40,000,000 |  | 40,000,000 |  |  |  |
License [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Annual minimum payments for licenses |  |  |  |  | $ 218,000 | € 200,000 |  |  |
Patents [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Patent expiry date |  |  |  |  | 2027-09 | 2027-09 |  |  |
Intellectual Property [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Payments to acquire intellectual property assets |  |  | 900,000 |  |  |  |  |  |
Intellectual Property [Member] | Medical Device [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Payments to acquire intellectual property assets | $ 800,000 |  |  |  |  |  |  |  |
Contingent payments upon achievement of regulatory milestones | 1,300,000 |  |  |  |  |  |  |  |
Contingency period ending year |  |  |  |  | 2022 | 2022 |  |  |
Estimated additional payment to acquire intellectual property assets | $ 200,000 |  |  |  |  |  |  |  |
Acquisition charge for in-process of research and development |  |  | 900,000 |  |  |  |  |  |
Intellectual Property [Member] | Embolitech LLC [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Payments to acquire intellectual property assets |  |  |  | $ 7,900,000 | $ 5,000,000 |  |  |  |
Contingency period ending year |  |  |  |  | 2033 | 2033 |  |  |
Acquisition charge for in-process of research and development |  |  |  |  |  |  | 7,900,000 |  |
Other accrued liabilities noncurrent |  |  | 1,000,000 |  | $ 1,000,000 |  |  |  |
Other long-term liabilities |  |  | $ 2,100,000 |  | 2,100,000 |  |  |  |
Intellectual Property [Member] | Embolitech LLC [Member] | Scenario Forecast [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Estimated additional payment to acquire intellectual property assets |  |  |  |  |  |  |  |  | $ 3,500,000
Selling, general and administrative [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Claim accrual recorded in selling, general and other administrative expenses |  |  |  |  |  |  | 1,000,000 |  |
Reduction in selling, general and administrative expenses |  |  |  |  | $ 600,000 |  |  |  |
Other Accrued Liabilities [Member] |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |
Claim accrual recorded in other accrued liabilities |  |  |  |  |  |  | $ 1,000,000 |  |

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