Stock-Benefit Plans and Equity Transactions - Summary of All Outstanding Warrants for Common Stock (Details) shares in Thousands	9 Months Ended
	Sep. 30, 2023 $ / shares shares
Class Of Warrant Or Right [Line Items]
Number of Warrants	8,226
2018 Squadron Medical Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	845
Strike Price | $ / shares	$ 3.15
Expiration	May 2027
2019 Squadron Medical Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	4,839
Strike Price | $ / shares	$ 2.17
Expiration	May 2027
2020 Squadron Medical Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	1,076
Strike Price | $ / shares	$ 4.88
Expiration	May 2027
Executive Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	1,327
Strike Price | $ / shares	$ 5
Expiration	December 2024
Other Warrants
Class Of Warrant Or Right [Line Items]
Number of Warrants	139	[1]
Strike Price | $ / shares	$ 7.41	[1]
Expiration	Various through February 2026	[1]

[1] Weighted-average strike price.