Accrued Expenses and Other Current Liabilities - Narrative (Details) $ in Millions	3 Months Ended			9 Months Ended
	Sep. 30, 2023 USD ($)	Mar. 31, 2023 notice	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Product Warranty Liability [Line Items]
Number of voluntary medical device correction notices issued | notice		2
Change in estimate	$ (1.9)		$ (3.1)	$ (10.7)	$ (3.1)
Estimated liability related to the MDCs	$ 2.8			$ 2.8		$ 54.6
United States
Product Warranty Liability [Line Items]
Product warranty term for PDMs				4 years
CANADA
Product Warranty Liability [Line Items]
Product warranty term for PDMs				5 years