Stock-Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended		6 Months Ended		12 Months Ended
	Dec. 31, 2017	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2017	May 31, 2020	Jun. 30, 2019	Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants outstanding		17,500,000		17,500,000
Stock-based compensation				$ 19,387	$ 15,970
Mr. Miles
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period	5 years
Number of warrants exercised				0
Number of warrants issued (in shares)	1,327,000					1,327,000
Exercise price of warrants	$ 5.00					$ 5.00
Stock-based compensation						$ 1,400
Safe Op Surgical Inc
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period				5 years
Proceeds from exercise of warrant					$ 100
Number of warrants exercised		257,000	0	257,000	970,000
Warrants outstanding		938,000		938,000
Number of warrants issued (in shares)		2,200,000		2,200,000
Exercise price of warrants		$ 3.50		$ 3.50
2017 PIPE Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period				5 years
Proceeds from exercise of warrant		$ 2,700	$ 800	$ 3,500	$ 1,000
Number of warrants exercised		1,887,000	375,000	2,312,000	520,000
Warrants outstanding		0		0
2018 Common Stock Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period				5 years
Proceeds from exercise of warrant			$ 1,000	$ 400	$ 1,300
Number of warrants exercised		0	693,000	126,000	2,841,000
Warrants outstanding		8,354,000		8,354,000
Exercise price of warrants		$ 3.50		$ 3.50
Squadron Medical | Participant Lender
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrants exercised				0
Warrants outstanding							6,760,000
Number of warrants issued (in shares)							1,076,000	4,839,000	845,000
Exercise price of warrants							$ 4.88	$ 2.17	$ 3.15
Warrants And Rights Outstanding Maturity Date							May 29, 2027
RSU's and PRSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unamortized compensation expense		$ 53,300		$ 53,300
Unamortized compensation expense to be recognized over weighted average period				1 year 9 months 18 days
Shares of common stock issued before net settlement		1,310,000	1,605,000	2,540,000	2,078,000
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued under ESPP		222,000	112,000	222,000	112,000