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Pay vs Performance Disclosure - USD ($)

12 Months Ended

Dec. 31, 2022

Dec. 31, 2021

Dec. 31, 2020

Pay vs Performance Disclosure [Table]

Pay vs Performance [Table Text Block]

Pay Versus Performance

The following table sets forth information concerning the compensation of our NEOs for each of the fiscal years ended December 31, 2020, 2021 and 2022, and our financial performance for each such fiscal year:

	(a)			(b)			(c)			(d)			(e)			(f)			(g)			(h)			(i)
																Value of Initial Fixed $100 Investment Based on:
	Year			Summary Compensation Table Total for PEO ($)			Compensation Actually Paid to PEO ($)⁽¹⁾			Average Summary Compensation Table Total for Non-PEO NEOs ($)			Average Compensation Actually Paid to Non-PEO NEOs ($)⁽¹⁾			Total Shareholder Return ($)			Peer Group Total Shareholder Return ($)⁽²⁾			Net Income ($)			Revenue ($)
	2022			5,675,394			8,351,516			2,150,223			3,129,748			339.42			105.61			(44,881,000)			407,856,000
	2021			1,272,916			10,637,336			1,148,431			3,941,169			310.01			137.80			(42,042,000)			233,394,000
	2020			4,865,607			21,661,173			2,459,027			6,851,303			253.46			133.15			(57,203,000)			115,381,000

(1)

Amounts represent compensation “actually paid” to our principal executive officer, or PEO, and the average compensation actually paid to our remaining NEOs for the relevant fiscal year, as determined under SEC rules (and described below), which includes the individuals indicated in the table below for each fiscal year:

	Year			PEO			Non-PEO NEOs
	2022			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebeling and John C. Rondoni
	2021			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebeling and Bryan K. Phillips
	2020			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebeling and Steven L. Jandrich

Compensation actually paid to our NEOs represents the “Total” compensation reported in the Summary Compensation Table for the applicable fiscal year, as adjusted as follows:¹

				2020						2021						2022
	Adjustments			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs
	Deduction for Amounts Reported under the “Stock Awards” and “Option Awards” Columns in the Summary Compensation Table for Applicable FY			(3,918,240)			(1,978,540)			—			(511,884)			(4,327,187)			(1,458,337)
	Increase based on ASC 718 Fair Value of Awards Granted during Applicable FY that Remain Unvested as of Applicable FY End, determined as of Applicable FY End			(224,208)			726,483			—			52,340			718,365			309,606
	Increase based on ASC 718 Fair Value of Awards Granted during Applicable FY that Vested during Applicable FY, determined as of Vesting Date			—			—			—			—			—			—
	Increase/deduction for Awards Granted during Prior FY that were Outstanding and Unvested as of Applicable FY End, determined based on change in ASC 718 Fair Value from Prior FY End to Applicable FY End			14,709,823			3,947,417			3,829,418			1,434,985			749,943			313,490

				2020						2021						2022
	Adjustments			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs
	Increase/deduction for Awards Granted during Prior FY that Vested During Applicable FY, determined based on change in ASC 718 Fair Value from Prior FY End to Vesting Date			6,228,191			1,696,916			5,535,002			1,817,297			5,535,002			1,814,766
	Deduction of ASC 718 Fair Value of Awards Granted during Prior FY that were Forfeited during Applicable FY, determined as of Prior FY End			—			—			—			—			—			—
	Increase based on Dividends or Other Earnings Paid during Applicable FY prior to Vesting Date			—			—			—			—			—			—
	Increase based on Incremental Fair Value of Options/SARs Modified during Applicable FY			—			—			—			—			—			—
	Deduction for Change in the Actuarial Present Values reported under the “Change in Pension Value and Nonqualified Deferred Compensation Earnings” Column of the Summary Compensation Table for Applicable FY			—			—			—			—			—			—
	Increase for Service Cost and, if applicable, Prior Service Cost for Pension Plans			—			—			—			—			—			—
	TOTAL ADJUSTMENTS			16,795,566			4,392,276			9,364,420			2,792,738			2,676,122			979,525

(2)	For the relevant fiscal year, represents the cumulative TSR (the “Peer Group TSR”) of the S&P Healthcare Equipment Select Industry Index (the “Peer Group”).

(3)	We have selected Revenue as our company-selected measure, which is a GAAP measure.

Company Selected Measure Name

Revenue

Named Executive Officers, Footnote [Text Block]

(1)

Amounts represent compensation “actually paid” to our principal executive officer, or PEO, and the average compensation actually paid to our remaining NEOs for the relevant fiscal year, as determined under SEC rules (and described below), which includes the individuals indicated in the table below for each fiscal year:

	Year			PEO			Non-PEO NEOs
	2022			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebeling and John C. Rondoni
	2021			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebeling and Bryan K. Phillips
	2020			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebeling and Steven L. Jandrich

Peer Group Issuers, Footnote [Text Block]

(2)	For the relevant fiscal year, represents the cumulative TSR (the “Peer Group TSR”) of the S&P Healthcare Equipment Select Industry Index (the “Peer Group”).

PEO Total Compensation Amount

$ 5,675,394

$ 1,272,916

$ 4,865,607

PEO Actually Paid Compensation Amount

$ 8,351,516

10,637,336

21,661,173

Adjustment To PEO Compensation, Footnote [Text Block]

Compensation actually paid to our NEOs represents the “Total” compensation reported in the Summary Compensation Table for the applicable fiscal year, as adjusted as follows:¹

				2020						2021						2022
	Adjustments			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs
	Deduction for Amounts Reported under the “Stock Awards” and “Option Awards” Columns in the Summary Compensation Table for Applicable FY			(3,918,240)			(1,978,540)			—			(511,884)			(4,327,187)			(1,458,337)
	Increase based on ASC 718 Fair Value of Awards Granted during Applicable FY that Remain Unvested as of Applicable FY End, determined as of Applicable FY End			(224,208)			726,483			—			52,340			718,365			309,606
	Increase based on ASC 718 Fair Value of Awards Granted during Applicable FY that Vested during Applicable FY, determined as of Vesting Date			—			—			—			—			—			—
	Increase/deduction for Awards Granted during Prior FY that were Outstanding and Unvested as of Applicable FY End, determined based on change in ASC 718 Fair Value from Prior FY End to Applicable FY End			14,709,823			3,947,417			3,829,418			1,434,985			749,943			313,490

				2020						2021						2022
	Adjustments			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs
	Increase/deduction for Awards Granted during Prior FY that Vested During Applicable FY, determined based on change in ASC 718 Fair Value from Prior FY End to Vesting Date			6,228,191			1,696,916			5,535,002			1,817,297			5,535,002			1,814,766
	Deduction of ASC 718 Fair Value of Awards Granted during Prior FY that were Forfeited during Applicable FY, determined as of Prior FY End			—			—			—			—			—			—
	Increase based on Dividends or Other Earnings Paid during Applicable FY prior to Vesting Date			—			—			—			—			—			—
	Increase based on Incremental Fair Value of Options/SARs Modified during Applicable FY			—			—			—			—			—			—
	Deduction for Change in the Actuarial Present Values reported under the “Change in Pension Value and Nonqualified Deferred Compensation Earnings” Column of the Summary Compensation Table for Applicable FY			—			—			—			—			—			—
	Increase for Service Cost and, if applicable, Prior Service Cost for Pension Plans			—			—			—			—			—			—
	TOTAL ADJUSTMENTS			16,795,566			4,392,276			9,364,420			2,792,738			2,676,122			979,525

Non-PEO NEO Average Total Compensation Amount

$ 2,150,223

1,148,431

2,459,027

Non-PEO NEO Average Compensation Actually Paid Amount

$ 3,129,748

3,941,169

6,851,303

Adjustment to Non-PEO NEO Compensation Footnote [Text Block]

Compensation actually paid to our NEOs represents the “Total” compensation reported in the Summary Compensation Table for the applicable fiscal year, as adjusted as follows:¹

				2020						2021						2022
	Adjustments			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs
	Deduction for Amounts Reported under the “Stock Awards” and “Option Awards” Columns in the Summary Compensation Table for Applicable FY			(3,918,240)			(1,978,540)			—			(511,884)			(4,327,187)			(1,458,337)
	Increase based on ASC 718 Fair Value of Awards Granted during Applicable FY that Remain Unvested as of Applicable FY End, determined as of Applicable FY End			(224,208)			726,483			—			52,340			718,365			309,606
	Increase based on ASC 718 Fair Value of Awards Granted during Applicable FY that Vested during Applicable FY, determined as of Vesting Date			—			—			—			—			—			—
	Increase/deduction for Awards Granted during Prior FY that were Outstanding and Unvested as of Applicable FY End, determined based on change in ASC 718 Fair Value from Prior FY End to Applicable FY End			14,709,823			3,947,417			3,829,418			1,434,985			749,943			313,490

				2020						2021						2022
	Adjustments			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs			PEO			Average non-PEO NEOs
	Increase/deduction for Awards Granted during Prior FY that Vested During Applicable FY, determined based on change in ASC 718 Fair Value from Prior FY End to Vesting Date			6,228,191			1,696,916			5,535,002			1,817,297			5,535,002			1,814,766
	Deduction of ASC 718 Fair Value of Awards Granted during Prior FY that were Forfeited during Applicable FY, determined as of Prior FY End			—			—			—			—			—			—
	Increase based on Dividends or Other Earnings Paid during Applicable FY prior to Vesting Date			—			—			—			—			—			—
	Increase based on Incremental Fair Value of Options/SARs Modified during Applicable FY			—			—			—			—			—			—
	Deduction for Change in the Actuarial Present Values reported under the “Change in Pension Value and Nonqualified Deferred Compensation Earnings” Column of the Summary Compensation Table for Applicable FY			—			—			—			—			—			—
	Increase for Service Cost and, if applicable, Prior Service Cost for Pension Plans			—			—			—			—			—			—
	TOTAL ADJUSTMENTS			16,795,566			4,392,276			9,364,420			2,792,738			2,676,122			979,525

Compensation Actually Paid vs. Total Shareholder Return [Text Block]

Narrative Disclosure to Pay Versus Performance Table

Relationship Between Financial Performance Measures

The line graphs below compare (i) the compensation actually paid to our PEO and the average of the compensation actually paid to our remaining NEOs, with (ii) our cumulative TSR, (iii) our Peer Group TSR, (iv) our Net Income, and (v) our Revenue, in each case, for the fiscal years ended December 31, 2020, 2021 and 2022.

TSR amounts reported in the graph assume an initial fixed investment of $100.

Compensation Actually Paid vs. Net Income [Text Block]

Narrative Disclosure to Pay Versus Performance Table

Relationship Between Financial Performance Measures

The line graphs below compare (i) the compensation actually paid to our PEO and the average of the compensation actually paid to our remaining NEOs, with (ii) our cumulative TSR, (iii) our Peer Group TSR, (iv) our Net Income, and (v) our Revenue, in each case, for the fiscal years ended December 31, 2020, 2021 and 2022.

TSR amounts reported in the graph assume an initial fixed investment of $100.

Compensation Actually Paid vs. Company Selected Measure [Text Block]

Narrative Disclosure to Pay Versus Performance Table

Relationship Between Financial Performance Measures

The line graphs below compare (i) the compensation actually paid to our PEO and the average of the compensation actually paid to our remaining NEOs, with (ii) our cumulative TSR, (iii) our Peer Group TSR, (iv) our Net Income, and (v) our Revenue, in each case, for the fiscal years ended December 31, 2020, 2021 and 2022.

TSR amounts reported in the graph assume an initial fixed investment of $100.

Total Shareholder Return Vs Peer Group [Text Block]

Narrative Disclosure to Pay Versus Performance Table

Relationship Between Financial Performance Measures

The line graphs below compare (i) the compensation actually paid to our PEO and the average of the compensation actually paid to our remaining NEOs, with (ii) our cumulative TSR, (iii) our Peer Group TSR, (iv) our Net Income, and (v) our Revenue, in each case, for the fiscal years ended December 31, 2020, 2021 and 2022.

TSR amounts reported in the graph assume an initial fixed investment of $100.

Tabular List [Table Text Block]

Pay Versus Performance Tabular List

We believe that revenue, adjusted operating income (loss), and insurance reimbursement approvals, given the Company’s stage of development and market opportunity, represents the most important financial performance measure used by us to link compensation actually paid to our NEOs for the fiscal year ended December 31, 2022.

Total Shareholder Return Amount

$ 339.42

310.01

253.46

Peer Group Total Shareholder Return Amount

105.61

137.8

133.15

Net Income (Loss)

$ (44,881,000)

$ (42,042,000)

$ (57,203,000)

Company Selected Measure Amount

407,856,000

233,394,000

115,381,000

Timothy P. Herbert

Timothy P. Herbert

Timothy P. Herbert

Measure [Axis]: 1

Pay vs Performance Disclosure [Table]

revenue

Measure [Axis]: 2

Pay vs Performance Disclosure [Table]

adjusted operating income (loss)

Measure [Axis]: 3

Pay vs Performance Disclosure [Table]

insurance reimbursement approvals

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

$ 2,676,122

$ 9,364,420

$ 16,795,566

PEO [Member] | Deduction for Amounts Reported Under the "Stock Awards" and "Option Awards" Columns in the Summary Compensation Table for Applicable FY [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

(4,327,187)

0

(3,918,240)

PEO [Member] | Increase Based on ASC 718 Fair Value of Awards Granted During Applicable FY that Remain Unvested as of Applicable FY End, Determined as of Applicable FY End [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

718,365

0

(224,208)

PEO [Member] | Increase Based on ASC 718 Fair Value of Awards Granted during Applicable FY that Vested During Applicable FY, Determined as of Vesting Date [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

PEO [Member] | Increase/Deduction for Awards Granted During Prior FY that were Outstanding and Unvested as of Applicable FY End, Determined Based on Change in ASC 718 Fair Value from Prior FY End to Applicable FY End [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

749,943

3,829,418

14,709,823

PEO [Member] | Increase/Deduction for Awards Granted During Prior FY that Vested During Applicable FY, Determined Based on Change in ASC 718 Fair Value from Prior FY End to Vesting Date [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

5,535,002

5,535,002

6,228,191

PEO [Member] | Deduction of ASC 718 Fair Value of Awards Granted During Prior FY that were Forfeited During Applicable FY, Determined as of Prior FY End [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

PEO [Member] | Increase Based on Dividends or Other Earnings Paid During Applicable FY Prior to Vesting Date [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

PEO [Member] | Increase Based on Incremental Fair Value of Options/SARs Modified During Applicable FY [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

PEO [Member] | Deduction for Change in the Actuarial Present Values Reported Under the "Change in Pension Value and Nonqualified Deferred Compensation Earnings" Column of the Summary Compensation Table for Applicable FY [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

PEO [Member] | Increase for Service Cost and, if Applicable, Prior Service Cost for Pension Plans [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

Non-PEO NEO [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

979,525

2,792,738

4,392,276

Non-PEO NEO [Member] | Deduction for Amounts Reported Under the "Stock Awards" and "Option Awards" Columns in the Summary Compensation Table for Applicable FY [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

(1,458,337)

(511,884)

(1,978,540)

Non-PEO NEO [Member] | Increase Based on ASC 718 Fair Value of Awards Granted During Applicable FY that Remain Unvested as of Applicable FY End, Determined as of Applicable FY End [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

309,606

52,340

726,483

Non-PEO NEO [Member] | Increase Based on ASC 718 Fair Value of Awards Granted during Applicable FY that Vested During Applicable FY, Determined as of Vesting Date [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

Non-PEO NEO [Member] | Increase/Deduction for Awards Granted During Prior FY that were Outstanding and Unvested as of Applicable FY End, Determined Based on Change in ASC 718 Fair Value from Prior FY End to Applicable FY End [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

313,490

1,434,985

3,947,417

Non-PEO NEO [Member] | Increase/Deduction for Awards Granted During Prior FY that Vested During Applicable FY, Determined Based on Change in ASC 718 Fair Value from Prior FY End to Vesting Date [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

1,814,766

1,817,297

1,696,916

Non-PEO NEO [Member] | Deduction of ASC 718 Fair Value of Awards Granted During Prior FY that were Forfeited During Applicable FY, Determined as of Prior FY End [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

Non-PEO NEO [Member] | Increase Based on Dividends or Other Earnings Paid During Applicable FY Prior to Vesting Date [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

Non-PEO NEO [Member] | Increase Based on Incremental Fair Value of Options/SARs Modified During Applicable FY [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

Non-PEO NEO [Member] | Deduction for Change in the Actuarial Present Values Reported Under the "Change in Pension Value and Nonqualified Deferred Compensation Earnings" Column of the Summary Compensation Table for Applicable FY [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

0

0

0

Non-PEO NEO [Member] | Increase for Service Cost and, if Applicable, Prior Service Cost for Pension Plans [Member]

Pay vs Performance Disclosure [Table]

Adjustment to Compensation Amount

$ 0

$ 0

$ 0