Summary of Significant Accounting Policies - Narrative (Details)			1 Months Ended	3 Months Ended
	Jan. 13, 2023 USD ($)	Jun. 30, 2022 USD ($)	Nov. 30, 2022 USD ($)	Mar. 31, 2023 USD ($) segment reporting_unit	Mar. 31, 2022 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)
Summary Of Significant Accounting Policies [Line Items]
Number of operating segment | segment				1
Number of reportable segments | segment				1
Other-than-temporary impairments related to marketable securities				$ 0	$ 0
Cash, FDIC insured amount				250,000
Inventory write-down				300,000	1,000,000
Allowance for uncollectible accounts				0			$ 0
Proceeds from sale of business				17,000,000	0
Employer retention credit receivable				$ 2,562,000			4,703,000
Number of reporting unit | reporting_unit				1
Goodwill impairment				$ 0	12,026,000
Impairment of property and equipment				0	0
Impairment of intangible assets				0	0
Research and development				(6,117,000)	(8,003,000)
Selling, general and administrative				(9,565,000)	$ (14,385,000)
Prepaid expenses and other current assets				2,232,000			$ 2,541,000
Left-Heart Access Portfolio
Summary Of Significant Accounting Policies [Line Items]
Contingent consideration received from sales				1,200,000
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio
Summary Of Significant Accounting Policies [Line Items]
Proceeds from sale of business	$ 17,000,000	$ 50,000,000	$ 20,000,000
CARES Employee Retention Credit
Summary Of Significant Accounting Policies [Line Items]
Employer retention credit, amount refunded				4,200,000
Employer retention credit receivable				$ 2,100,000
CARES Employee Retention Credit | Forecast
Summary Of Significant Accounting Policies [Line Items]
Employer retention credit receivable						$ 2,600,000
Minimum
Summary Of Significant Accounting Policies [Line Items]
Customers payment period				30 days
Property and equipment, estimated useful lives				3 years
Maximum
Summary Of Significant Accounting Policies [Line Items]
Customers payment period				60 days
Contracts with customers, expected duration				1 year
Agreement to produce and sell products, term				4 years
Property and equipment, estimated useful lives				5 years
Deferred Equipment Agreements | Minimum
Summary Of Significant Accounting Policies [Line Items]
Term of contract				2 years
Deferred Equipment Agreements | Maximum
Summary Of Significant Accounting Policies [Line Items]
Term of contract				4 years