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Stock Benefit Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Jul. 31, 2019
Feb. 28, 2018
Sep. 30, 2016
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance       43,664,000    
Stock-based compensation       $ 10,956,000 $ 5,304,000  
Collaborative Arrangement | Elite Medical Holdings L L C And Pac3 Surgical Products L L C            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Payments of settlement   $ 400,000        
Gain Loss On Contract Termination         $ 6,200,000  
Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock issued       12,535,000    
Employee Stock Option            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance       4,215,000    
Weighted-average grant-date fair value of stock options granted       $ 1.92 $ 2.00  
Share price       $ 7.10    
Unrecognized compensation expense for stock options and awards expected to be recognized       $ 3,700,000    
Straight-line basis over a weighted average period       2 years 3 months 18 days    
Restricted Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance       6,727,000    
Restricted shares granted under the plan       4,802,000    
Straight-line basis over a weighted average period       2 years 3 months 25 days    
Weighted average fair value of awards granted       $ 1.92 $ 2.87  
Unrecognized compensation expense for restricted stock and awards expected to be recognized       $ 16,000,000    
2016 Equity Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance     1,083,333      
Number of shares available for grant       666,742    
2016 Equity Incentive Plan | Employee Stock Option            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expiration period     10 years      
Award vesting period     4 years      
Exercise price minimum percentage of market price on grant date     100.00%      
2016 Equity Incentive Plan | Employee Stock Option | 10 Percent Stockholder            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expiration period     5 years      
Exercise price minimum percentage of market price on grant date     110.00%      
Inducement Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance       801,099    
Maximum award to be deductible other than options       $ 1,000,000    
2019 Management Objective Strategic Incentive Plan | Board of Directors Chairman | Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share authorized grant of warrants 500,000          
Maximum grant of shares per participant 50,000          
2019 Management Objective Strategic Incentive Plan | Restricted Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Restricted shares granted under the plan       55,000    
Two Thousand Seventeen Distributor Inducement Plan | Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of warrants issued (in shares)       300,000    
Common stock issued       92,000    
Stock-based compensation       $ 400,000 $ 200,000  
Number of warrants available to be granted           50,000
Two Thousand Seventeen Distributor Inducement Plan | Board of Directors Chairman | Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share authorized grant of warrants           1,000,000
Two Thousand Seventeen Distributor Inducement Plan | Restricted Stock Units | Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares available for grant           75,000
2017 Development Services Plan | Board of Directors Chairman | Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share authorized grant of warrants       2,400,000 3,000,000  
Common stock issued       0    
Issuance of shares granted to distributors was vested       0