Revenue - Net Revenue Disaggregated into Categories (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Disaggregation Of Revenue [Line Items]
Total net revenue	$ 12,971	$ 20,625	$ 34,593	$ 52,933
US
Disaggregation Of Revenue [Line Items]
Total net revenue	9,498	11,330	25,997	33,399
International
Disaggregation Of Revenue [Line Items]
Total net revenue	3,473	9,295	8,596	19,534
Product revenue, Capital equipment
Disaggregation Of Revenue [Line Items]
Total net revenue	2,018	5,024	5,176	16,188
Product revenue, Capital equipment | US
Disaggregation Of Revenue [Line Items]
Total net revenue	1,093	1,714	3,467	7,946
Product revenue, Capital equipment | International
Disaggregation Of Revenue [Line Items]
Total net revenue	925	3,310	1,709	8,242
Product revenue, disposable
Disaggregation Of Revenue [Line Items]
Total net revenue	7,913	12,794	22,792	29,950
Product revenue, disposable | US
Disaggregation Of Revenue [Line Items]
Total net revenue	5,839	7,327	16,910	19,788
Product revenue, disposable | International
Disaggregation Of Revenue [Line Items]
Total net revenue	2,074	5,467	5,882	10,162
Subtotal product revenue
Disaggregation Of Revenue [Line Items]
Total net revenue	9,931	17,818	27,968	46,138
Subtotal product revenue | US
Disaggregation Of Revenue [Line Items]
Total net revenue	6,932	9,041	20,377	27,734
Subtotal product revenue | International
Disaggregation Of Revenue [Line Items]
Total net revenue	2,999	8,777	7,591	18,404
Lease revenue, Capital equipment
Disaggregation Of Revenue [Line Items]
Total net revenue	139	697	540	2,307
Lease revenue, Capital equipment | US
Disaggregation Of Revenue [Line Items]
Total net revenue	77	653	315	2,230
Lease revenue, Capital equipment | International
Disaggregation Of Revenue [Line Items]
Total net revenue	62	44	225	77
Lease revenue, other
Disaggregation Of Revenue [Line Items]
Total net revenue	411	451	902	1,131
Lease revenue, other | US
Disaggregation Of Revenue [Line Items]
Total net revenue	328	343	721	887
Lease revenue, other | International
Disaggregation Of Revenue [Line Items]
Total net revenue	83	108	181	244
Service and other revenue
Disaggregation Of Revenue [Line Items]
Total net revenue	2,490	1,659	5,183	3,357
Service and other revenue | US
Disaggregation Of Revenue [Line Items]
Total net revenue	2,161	1,293	4,584	2,548
Service and other revenue | International
Disaggregation Of Revenue [Line Items]
Total net revenue	$ 329	$ 366	$ 599	$ 809