Stock-Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants outstanding	9,654,000
Stock-based compensation	$ 16,462	$ 10,184
Mr. Miles
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period	5 years
Warrant extended term	7 years
Number of warrants exercised	0
Safe Op Surgical Inc
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period	5 years
Number of warrants exercised	159,000	0
Warrants outstanding	778,000
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	$ 400	$ 400
Number of warrants exercised	5,681,000,000	126,000,000
Warrants outstanding	630,000
Exercise price of warrants	$ 3.50
Squadron Medical \| Participant Lender
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrants exercised	0
RSU's and PRSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unamortized compensation expense	$ 35,100
Unamortized compensation expense to be recognized over weighted average period	1 year 4 months 17 days
Shares of common stock issued before net settlement	1,967,000	1,225,000
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued under ESPP	0	0

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