Summary of Significant Accounting Policies - Summary of Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Total revenue	$ 4,170	$ 3,681
United States
Disaggregation of Revenue [Line Items]
Total revenue	2,248	2,023
Outside the United States
Disaggregation of Revenue [Line Items]
Total revenue	1,922	1,658
Disposables
Disaggregation of Revenue [Line Items]
Total revenue	3,426	3,211
Systems
Disaggregation of Revenue [Line Items]
Total revenue	0	0
Service/Other
Disaggregation of Revenue [Line Items]
Total revenue	$ 744	$ 470