Segment and Geographic Data - Geographic and Product Category Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Geographic information for Product Revenue and Property and equipment, net
Revenue	$ 12,837	$ 15,551
Property and equipment, net	8,060		$ 8,154
United States
Geographic information for Product Revenue and Property and equipment, net
Property and equipment, net	7,971		8,065
Germany
Geographic information for Product Revenue and Property and equipment, net
Property and equipment, net	38		29
Rest of World
Geographic information for Product Revenue and Property and equipment, net
Property and equipment, net	51		$ 60
Product
Geographic information for Product Revenue and Property and equipment, net
Revenue	12,691	14,884
Product | United States
Geographic information for Product Revenue and Property and equipment, net
Revenue	10,567	12,715
Product | Germany
Geographic information for Product Revenue and Property and equipment, net
Revenue	826	1,177
Product | Rest of World
Geographic information for Product Revenue and Property and equipment, net
Revenue	1,298	992
Knee
Geographic information for Product Revenue and Property and equipment, net
Revenue	11,890	14,108
Knee | United States
Geographic information for Product Revenue and Property and equipment, net
Revenue	9,766	11,939
Knee | Germany
Geographic information for Product Revenue and Property and equipment, net
Revenue	826	1,177
Knee | Rest of World
Geographic information for Product Revenue and Property and equipment, net
Revenue	1,298	992
Hip
Geographic information for Product Revenue and Property and equipment, net
Revenue	801	776
Hip | United States
Geographic information for Product Revenue and Property and equipment, net
Revenue	801	776
Hip | Germany
Geographic information for Product Revenue and Property and equipment, net
Revenue	0	0
Hip | Rest of World
Geographic information for Product Revenue and Property and equipment, net
Revenue	$ 0	$ 0