Balance Sheet Components - Narrative (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
Property, Plant and Equipment [Line Items]
Inventory, finished goods, gross	$ 18,600		$ 18,600		$ 15,600
Inventory, work in process, gross	1,900		1,900		1,700
Property and equipment, gross	30,068		30,068		$ 25,771
Depreciation expense	1,200	$ 800	2,300	$ 1,500
Construction in progress, surgical placement instrument set
Property, Plant and Equipment [Line Items]
Property and equipment, gross	3,900		3,900
Construction in Progress, Santa Clara Lease
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 4,100		$ 4,100