Property and Equipment - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021
Property Plant And Equipment [Line Items]
Depreciation and amortization expense on property and equipment	$ 2,082	$ 2,701
Trial Systems
Property Plant And Equipment [Line Items]
Transfers from (into) inventory into (from) property and equipment	(464)	(661)
Equipment
Property Plant And Equipment [Line Items]
Transfers from (into) inventory into (from) property and equipment	$ 662	$ 23

Amount of increase (decrease) of physical assets used in the normal conduct of business and not intended for resale, from reclassification, impairment, donation, or changes classified as other. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 360
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=109226691&loc=d3e2921-110230

Name:	us-gaap_PropertyPlantAndEquipmentTransfersAndChanges
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration