Revenue - Net Revenue Disaggregated into Categories (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Disaggregation Of Revenue [Line Items]
Total Net Revenue	$ 32,308	$ 19,115
US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	22,069	14,341
International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	10,239	4,774
Product Revenue, Capital Equipment
Disaggregation Of Revenue [Line Items]
Total Net Revenue	11,164	4,998
Product Revenue, Capital Equipment | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	6,232	3,301
Product Revenue, Capital Equipment | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	4,932	1,697
Product Revenue, Disposable
Disaggregation Of Revenue [Line Items]
Total Net Revenue	17,156	12,430
Product Revenue, Disposable | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	12,461	9,694
Product Revenue, Disposable | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	4,695	2,736
Subtotal Product Revenue
Disaggregation Of Revenue [Line Items]
Total Net Revenue	28,320	17,428
Subtotal Product Revenue | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	18,693	12,995
Subtotal Product Revenue | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	9,627	4,433
Lease Revenue, Capital Equipment
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,610	644
Lease Revenue, Capital Equipment | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,577	627
Lease Revenue, Capital Equipment | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	33	17
Lease Revenue, Other
Disaggregation Of Revenue [Line Items]
Total Net Revenue	680	392
Lease Revenue, Other | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	544	317
Lease Revenue, Other | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	136	75
Service and Other Revenue
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,698	651
Service and Other Revenue | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,255	402
Service and Other Revenue | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	$ 443	$ 249