Equity - Additional Information (Details) - USD ($)				1 Months Ended	12 Months Ended
	Aug. 03, 2021	Mar. 01, 2021	Oct. 16, 2020	Dec. 31, 2017	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2017	May 31, 2020	Jun. 30, 2019	Dec. 31, 2018
Subsidiary Sale Of Stock [Line Items]
Common stock, shares authorized					200,000,000	200,000,000
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
Number of warrants outstanding					20,184,000
Number of warrants issued (in shares)					0
Stock-based compensation					$ 36,450,000	$ 17,659,000
Patrick S. Miles
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period				5 years
Number of warrants issued (in shares)				1,327,434	0		1,327,434
Exercise price of warrants				$ 5.00			$ 5.00
Stock-based compensation							$ 1,400,000
SafeOp Surgical, Inc.
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period					5 years
Proceeds from exercise of warrant					$ 100,000	$ 0
Number of warrants exercised					969,932	34,807
Number of warrants outstanding					1,194,943
Number of warrants issued (in shares)					2,200,000
Exercise price of warrants					$ 3.50
Squadron Medical | Participant Lender
Subsidiary Sale Of Stock [Line Items]
Number of warrants outstanding						6,759,530
Number of warrants issued (in shares)					0			1,075,820	4,838,710	845,000
Exercise price of warrants								$ 4.88	$ 2.17	$ 3.15
Warrants And Rights Outstanding Maturity Date								May 29, 2027
2017 PIPE Warrants
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period					5 years
Proceeds from exercise of warrant					$ 1,600,000	$ 600,000
Number of warrants exercised					795,000	273,554
Number of warrants outstanding					2,312,000
Exercise price of warrants					$ 2.00
2018 Common Stock Warrants
Subsidiary Sale Of Stock [Line Items]
Warrant expiration period					5 years
Proceeds from exercise of warrant					$ 1,500,000	$ 1,300,000
Number of warrants exercised					2,900,660	2,342,986
Number of warrants outstanding					8,479,025
Exercise price of warrants					$ 3.50
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
Private Placement
Subsidiary Sale Of Stock [Line Items]
Common stock issued		12,421,242,000
Net proceeds from private placement		$ 131,800,000
Gross proceeds from private placement		138,000.0
Private placement fee net		$ 6,200
Private Placement | Common Stock
Subsidiary Sale Of Stock [Line Items]
Common stock issued					12,421,000
Underwritten Public Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Common stock issued			13,142,855,000
Net proceeds from offering			$ 107,700,000
Gross proceeds from offering			115,000.0
Common stock fee net			$ 7,300
0.75% Convertible Senior Notes
Subsidiary Sale Of Stock [Line Items]
Share repurchase, authorized amount	$ 25,000.0
Number of shares repurchased	1,806,358,000					0
Aggregate price of repurchased shares	$ 25,000.0