Commitments and Contingencies - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		12 Months Ended
	Dec. 31, 2020	Jun. 30, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2018
Lessee, Lease, Description [Line Items]
Operating lease right-of-use assets	$ 17,076		$ 14,627	$ 17,076	$ 10,049
Total Operating lease liabilities	$ 18,210		15,902	18,210
Option granted to purchase leased system, period	12 months
Revenue for sales-type leases			0	700
Proceeds from purchase option			400
Lease receivable			300
Estimated product liability	$ 400		$ 700	$ 400
Former Executive VP and CFO
Lessee, Lease, Description [Line Items]
Arbitration settlement		$ 400
Arbitration settlement (in shares)		15,408
Accounting Standards Update 2016-02
Lessee, Lease, Description [Line Items]
Operating lease right-of-use assets					10,200
Total Operating lease liabilities					$ 10,100
Minimum
Lessee, Lease, Description [Line Items]
Remaining lease terms of operating leases			1 year
Maximum
Lessee, Lease, Description [Line Items]
Remaining lease terms of operating leases			10 years
Remaining lease terms of finance leases			5 years