Revenue - Additional Information (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Revenue From Contract With Customer [Abstract]
Percentage of revenue subject to point-in-time recognition	99.00%	99.00%	99.00%	99.00%
Minimum percentage of sale extended warranties on capital equipment			1.00%
Maximum percentage of total revenue derived from sale of single-use (disposable) products			95.00%