Stock-Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands			3 Months Ended		9 Months Ended
	Aug. 11, 2023	Apr. 19, 2023	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants outstanding			8,226,000		8,226,000
Common stock, par value			$ 0.0001		$ 0.0001		$ 0.0001
Proceeds from common stock offering					$ 67,428
At the Market Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares issued in transaction	668,484
Common stock, par value	$ 0.0001
Proceeds from common stock offering	$ 9,900
Registered Securities Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value		$ 0.0001
Proceeds from common stock offering		$ 57,500
Registered Securities Offering | Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares issued in transaction		4,285,715
Shares offering price per share		$ 14.00
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				0	937,000	257,000
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					$ 400	$ 400
Number of warrants exercised				14,000,000	6,311,000,000	140,000,000
Warrants outstanding			0		0
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			$ 70,500		$ 70,500
Unamortized compensation expense to be recognized over weighted average period					1 year 8 months 8 days
Shares of common stock issued before net settlement			789,000	563,000	5,714,000	3,103,000
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued under ESPP			0	0	247,000,000	222,000,000