Organization and Description of Business (Details) - USD ($) $ / shares in Units, $ in Thousands					1 Months Ended		3 Months Ended
	Feb. 01, 2023	Jan. 13, 2023	Jun. 30, 2022	Aug. 10, 2020	Nov. 30, 2022	Jul. 31, 2021	Mar. 31, 2023	Mar. 31, 2022	Jan. 31, 2023	Dec. 31, 2022
Subsidiary, Sale of Stock [Line Items]
Cash, cash equivalents, restricted cash and marketable securities							$ 76,700			$ 76,200
Net loss							16,315	$ 40,017
Net cash used in operating activities							(16,515)	(27,609)
Accumulated deficit							534,629			518,314
Working capital							84,700			$ 98,000
Proceeds from sale of business							17,000	$ 0
Left-Heart Access Portfolio
Subsidiary, Sale of Stock [Line Items]
Contingent consideration received from sales							$ 1,200
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio
Subsidiary, Sale of Stock [Line Items]
Proceeds from sale of business		$ 17,000	$ 50,000		$ 20,000
Indemnity escrow account, amount			$ 4,000		$ 1,600				$ 1,400
Indemnity escrow account, term			18 months
Milestone consideration, period	4 years
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Year one
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	100.00%
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Year two
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	75.00%
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Year three
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	50.00%
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Year four
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	50.00%
IPO
Subsidiary, Sale of Stock [Line Items]
Proceeds from issuance, initial public offering				$ 166,300
Over-Allotment Option
Subsidiary, Sale of Stock [Line Items]
Issuance of common stock for cash, net of issuance costs (in shares)						825,000
Public Stock Offering
Subsidiary, Sale of Stock [Line Items]
Issuance of common stock for cash, net of issuance costs (in shares)						6,325,000
Price per share (in dollars per share)						$ 14.00
Consideration received on transaction						$ 88,600
Proceeds from issuance of stock						$ 82,700