Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands				12 Months Ended
	Aug. 03, 2021	Mar. 01, 2021	Oct. 16, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Subsidiary Sale Of Stock [Line Items]
Common stock, shares authorized				200,000,000	200,000,000
Net proceeds from offering					$ 131,828	$ 107,698
Redeemable preferred stock carrying value				$ 23,603	$ 23,603
Redeemable preferred stock authorized				20,000,000	20,000,000
Redeemable preferred stock, price per share				$ 0.0001	$ 0.0001
Warrants outstanding				15,491,000
Stock-based compensation				$ 40,556	$ 36,450	$ 17,659
Patrick S. Miles
Subsidiary Sale Of Stock [Line Items]
Number of warrants issued (in shares)				0
SafeOp Surgical, Inc.
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period				5 years
Proceeds from exercise of warrant					$ 100
Number of warrants exercised				257,000	970,000
Warrants outstanding				938,000
Squadron Medical | Participant Lender
Subsidiary Sale Of Stock [Line Items]
Number of warrants issued (in shares)				0
2017 PIPE Warrants
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period				5 years
Proceeds from exercise of warrant				$ 3,500	$ 1,600
Number of warrants exercised				2,312,000	795,000
Warrants outstanding				0
2018 Common Stock Warrants
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period				5 years
Proceeds from exercise of warrant				$ 400	$ 1,500
Number of warrants exercised				2,168,000	2,901,000
Warrants outstanding				6,311,000
Exercise price of warrants				$ 3.50
Redeemable Preferred Stock
Subsidiary Sale Of Stock [Line Items]
Redeemable preferred stock carrying value				$ 23,600	$ 23,600
Redeemable preferred stock authorized				20,000,000	20,000,000
Redeemable preferred stock redemption, price per share				$ 9.00	$ 9.00
Redeemable preferred stock, price per share				$ 7.11	$ 7.11
Private Placement
Subsidiary Sale Of Stock [Line Items]
Common stock issued		12,421,242
Net proceeds from private placement		$ 131,800
Gross proceeds from private placement		138,000
Private placement fee net		$ 6,200
Private Placement | Common Stock
Subsidiary Sale Of Stock [Line Items]
Common stock issued					12,421,000
Underwritten Public Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Common stock issued			13,142,855
Net proceeds from offering			$ 107,700
Gross proceeds from offering			115,000
Common stock fee net			$ 7,300
0.75% Convertible Senior Notes
Subsidiary Sale Of Stock [Line Items]
Share repurchase, authorized amount	$ 25,000
Number of shares repurchased	1,806,358			0		0
Aggregate price of repurchased shares	$ 25,000