Sale of Business - Narrative (Details) - USD ($) $ in Thousands				1 Months Ended	3 Months Ended		12 Months Ended
	Feb. 01, 2023	Jan. 13, 2023	Jun. 30, 2022	Nov. 30, 2022	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Jan. 31, 2023
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Proceeds from sale of business					$ 17,000	$ 0
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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
Amount earned and recorded as a receivable					1,200
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Forecast
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Milestone consideration, period							4 years
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Medtronic
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Gain on sale of business, net					$ 1,207			$ 79,500
Disposal Group, Held-for-sale or Disposed of by Sale, Not Discontinued Operations | Left-Heart Access Portfolio | Year one
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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 one | Forecast
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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 two | Forecast
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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 three | Forecast
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [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 | Forecast
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Milestone consideration, royalty percentage							50.00%