Balance Sheet Components - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Reserve for excess and obsolete inventory	$ 2,800		$ 2,800		$ 500
Reserve for excess and obsolete inventory related to reduced sales volumes of legacy gentlewave console	1,700		1,700
Charge related to phasing out legacy procedure instruments	1,200		1,200
Excess and obsolete inventory	600
Amortization intangible assets	$ 100	$ 100	331	$ 332
Cost of Sales
Amortization intangible assets			100	100
Selling, General and Administrative Expenses
Amortization intangible assets			$ 200	$ 200

The aggregate expense charged against earnings to allocate the cost of intangible assets (nonphysical assets not used in production) in a systematic and rational manner to the periods expected to benefit from such assets. As a noncash expense, this element is added back to net income when calculating cash provided by or used in operations using the indirect method.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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