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Term Notes - Schedule of Future Minimum and Estimated Payments (Detail) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2020
Dec. 31, 2019
Debt Disclosure [Abstract]    
2020 (remainder) $ 146  
2021 3,861  
2022 6,961  
2023 8,294  
Total future payments 19,262  
Less amounts representing interest (1,194)  
Less final payment (1,568)  
Total principal amount of term note payments $ 16,500 $ 13,334