Revenue - Net Revenue Disaggregated into Categories (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation Of Revenue [Line Items]
Total Net Revenue	$ 38,115	$ 30,559	$ 91,048	$ 84,826
US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	32,950	25,526	66,349	65,549
International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	5,165	5,033	24,699	19,277
Product Revenue, Capital Equipment
Disaggregation Of Revenue [Line Items]
Total Net Revenue	13,331	15,245	29,519	39,548
Product Revenue, Capital Equipment | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	11,291	13,198	19,237	30,578
Product Revenue, Capital Equipment | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	2,040	2,047	10,282	8,970
Product Revenue, Disposable
Disaggregation Of Revenue [Line Items]
Total Net Revenue	21,674	13,044	51,624	38,637
Product Revenue, Disposable | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	19,043	10,426	38,831	29,561
Product Revenue, Disposable | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	2,631	2,618	12,793	9,076
Subtotal Product Revenue
Disaggregation Of Revenue [Line Items]
Total Net Revenue	35,005	28,289	81,143	78,185
Subtotal Product Revenue | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	30,334	23,624	58,068	60,139
Subtotal Product Revenue | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	4,671	4,665	23,075	18,046
Lease Revenue, Capital Equipment
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,294	1,129	3,601	3,407
Lease Revenue, Capital Equipment | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,195	1,117	3,425	3,364
Lease Revenue, Capital Equipment | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	99	12	176	43
Lease Revenue, Other
Disaggregation Of Revenue [Line Items]
Total Net Revenue	488	524	1,619	1,427
Lease Revenue, Other | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	399	442	1,286	1,194
Lease Revenue, Other | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	89	82	333	233
Service and Other Revenue
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,328	617	4,685	1,807
Service and Other Revenue | US
Disaggregation Of Revenue [Line Items]
Total Net Revenue	1,022	343	3,570	852
Service and Other Revenue | International
Disaggregation Of Revenue [Line Items]
Total Net Revenue	$ 306	$ 274	$ 1,115	$ 955