I'm not an economist - can you explain why a resource being necessary makes it involve market failure?
In my mind, it's nowhere near as simple as that in this case (although I'd say it is nearly that simple for, say, the life-saving medicine case (but I'm getting side-tracked here)) -- there's a lot of non-essential uses of water, and those sources of demand would be price-elastic, which may be enough to prevent that sort of market failure. I suppose it would depend on what proportion of the demand for water is "essential".
If you can point me to a faucet that I can use to fill a jug with a few gallons of "healthcare" then you can make more detailed comparison but not until then.