Equity - Additional Information (Details) - USD ($)							12 Months Ended
	Nov. 17, 2023	Oct. 27, 2023	Aug. 11, 2023	Apr. 19, 2023	Aug. 03, 2021	Mar. 01, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Subsidiary Sale Of Stock [Line Items]
Common stock, par value							$ 0.0001	$ 0.0001
Common stock, shares authorized							200,000,000	200,000,000
Net proceeds from offering							$ 213,181,000		$ 131,828,000
Redeemable preferred stock carrying value							$ 23,603,000	$ 23,603,000
Redeemable preferred stock authorized							20,000,000	20,000,000
Redeemable preferred stock, price per share							$ 0.0001	$ 0.0001
Warrants outstanding							8,219,000
Patrick S. Miles
Subsidiary Sale Of Stock [Line Items]
Warrant extended term							7 years
Warrant expiration period							5 years
Number of warrants issued (in shares)							0
SafeOp Surgical, Inc.
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period							5 years
Number of warrants exercised							937,000	257,000
Warrants outstanding							0
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								$ 3,500,000
Number of warrants exercised								2,312,000
Warrants outstanding								0
2018 Common Stock Warrants
Subsidiary Sale Of Stock [Line Items]
Proceeds from exercise of warrant							$ 400,000	$ 400,000
Number of warrants exercised							6,311,000	2,168,000
Warrants outstanding							0
Redeemable Preferred Stock
Subsidiary Sale Of Stock [Line Items]
Redeemable preferred stock carrying value							$ 23,600,000	$ 23,600,000
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
Common Stock
Subsidiary Sale Of Stock [Line Items]
Common stock issued							19,725,000
Underwritten Public Offering
Subsidiary Sale Of Stock [Line Items]
Additional common stock shares granted to purchase, optional	470,769
Net proceeds from offering	$ 145,800,000
Underwritten Public Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Shares offering price per share		$ 10.5
Common stock issued		14,300,000
Private Placement
Subsidiary Sale Of Stock [Line Items]
Common stock issued						12,421,242
Net proceeds from private placement						$ 131,800,000
Gross proceeds from private placement						138,000,000
Private placement fee net						$ 6,200,000
Private Placement | Common Stock
Subsidiary Sale Of Stock [Line Items]
Common stock issued									12,421,000
Market Offering
Subsidiary Sale Of Stock [Line Items]
Number of shares issued in transaction			668,484
Net proceeds from offering			$ 9,900,000
Registered Securities Offering
Subsidiary Sale Of Stock [Line Items]
Number of shares issued in transaction				4,285,715
Net proceeds from offering				$ 57,500,000
Registered Securities Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Shares offering price per share				$ 14
0.75% Convertible Senior Notes
Subsidiary Sale Of Stock [Line Items]
Share repurchase, authorized amount					$ 25,000,000
Number of shares repurchased					1,806,358		0	0
Aggregate price of repurchased shares					$ 25,000,000