Is a long tail possible on a humanoid?

Say some sort of animal species with a tail evolved into a sentient humanoid, would the body structure be compatible with a lizard/cat/monkey-like (etc) tail, would there be some sort of balance issue?

Google "kangaroo"

I mean a more human-shaped body and strictly bipedal locomotion.

They'd probably lean forwards while walking, and might require stronger legs to carry the tail, but other than that I see no inherent problem.

Probably depends on what you want the tail to do as well.

Thermal regulation, cultural and physiological changes.

Prehensile, development of alternative limbs and tool development.

Swim aid,etc.

Nothing unworkable just depends.

I don't really know why you asked this but I think I'm gonna give the android in my story a tail now. So thanks, I think xD

There's really no reason you couldn't have a plantigrade bipedal species with a functional tail. Sure, there may possibly be some balance issues that would lead to them having a different stance and gait, but nothing major. The only reason a species would really lose the tail over time is if it became detrimental to survival.