Stock-Benefit Plans and Equity Transactions - Summary of All Outstanding Warrants for Common Stock (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Class Of Warrant Or Right [Line Items]
Number of Warrants	9,654,000
2018 PIPE Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	630,000
Strike Price | $ / shares	$ 3.50
Expiration	May 2023
SafeOp Surgical Merger Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	778,000
Strike Price | $ / shares	$ 3.50
Expiration	May 2023
2018 Squadron Medical Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	845,000
Strike Price | $ / shares	$ 3.15
Expiration	May 2027
2019 Squadron Medical Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	4,839,000
Strike Price | $ / shares	$ 2.17
Expiration	May 2027
2020 Squadron Medical Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	1,076,000
Strike Price | $ / shares	$ 4.88
Expiration	May 2027
Executive Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	1,327,000
Strike Price | $ / shares	$ 5.00
Expiration	December 2024
Other Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	159,000	[1]
Strike Price | $ / shares	$ 7.20	[1]
Expiration	Various through February 2026	[1]

[1] Weighted-average strike price.