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Pay vs Performance Disclosure - USD ($)

12 Months Ended

Dec. 31, 2023

Dec. 31, 2022

Dec. 31, 2021

Dec. 31, 2020

Pay vs Performance Disclosure

Pay vs Performance Disclosure, Table

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, 2022, and 2023, 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 ($)
2023			7,490,775			876,350			2,184,323			(488,837)			274.13			98.68			(21,153,000)			624,799,000
2022			5,675,394			8,351,516			2,140,038			3,119,563			339.42			104.93			(44,881,000)			407,856,000
2021			1,272,916			10,637,336			1,132,482			3,925,220			310.25			137.24			(42,042,000)			233,394,000
2020			4,865,607			21,661,173			2,459,027			6,851,303			253.46			132.83			(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
2023			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebling and Carlton W. Weatherby
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 (CAP) to our NEOs represents the “Total” compensation reported in the Summary Compensation Table for the applicable fiscal year, as adjusted as reflected below. The fair values of PSUs, and stock options included in the CAP to our PEO and the Average CAP to our non-PEO NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the PSU fair values from the grant date are based on our updated stock price at the respective measurement dates and updated performance metric projections, which were as revenue for PSUs granted in 2022 and revenue and operating income for PSUs granted in 2023. Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, risk-free rate assumptions, and changes to our non-PEO NEOs.

			2023
Adjustments			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			(6,132,855)			(1,612,079)
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			(1,793,970)			(492,661)
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			(1,419,624)			(1,428,442)

			2023
Adjustments			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			2,732,024			860,022
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			(6,614,425)			(2,673,160)

(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

(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
2023			Timothy P. Herbert			Randall A. Ban, Richard J. Buchholz, Philip J. Ebling and Carlton W. Weatherby
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

(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

$ 7,490,775

$ 5,675,394

$ 1,272,916

$ 4,865,607

PEO Actually Paid Compensation Amount

$ 876,350

8,351,516

10,637,336

21,661,173

Adjustment To PEO Compensation, Footnote

Compensation actually paid (CAP) to our NEOs represents the “Total” compensation reported in the Summary Compensation Table for the applicable fiscal year, as adjusted as reflected below. The fair values of PSUs, and stock options included in the CAP to our PEO and the Average CAP to our non-PEO NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the PSU fair values from the grant date are based on our updated stock price at the respective measurement dates and updated performance metric projections, which were as revenue for PSUs granted in 2022 and revenue and operating income for PSUs granted in 2023. Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, risk-free rate assumptions, and changes to our non-PEO NEOs.

			2023
Adjustments			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			(6,132,855)			(1,612,079)
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			(1,793,970)			(492,661)
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			(1,419,624)			(1,428,442)

			2023
Adjustments			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			2,732,024			860,022
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			(6,614,425)			(2,673,160)

Non-PEO NEO Average Total Compensation Amount

$ 2,184,323

2,140,038

1,132,482

2,459,027

Non-PEO NEO Average Compensation Actually Paid Amount

$ (488,837)

3,119,563

3,925,220

6,851,303

Adjustment to Non-PEO NEO Compensation Footnote

Compensation actually paid (CAP) to our NEOs represents the “Total” compensation reported in the Summary Compensation Table for the applicable fiscal year, as adjusted as reflected below. The fair values of PSUs, and stock options included in the CAP to our PEO and the Average CAP to our non-PEO NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the PSU fair values from the grant date are based on our updated stock price at the respective measurement dates and updated performance metric projections, which were as revenue for PSUs granted in 2022 and revenue and operating income for PSUs granted in 2023. Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, risk-free rate assumptions, and changes to our non-PEO NEOs.

			2023
Adjustments			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			(6,132,855)			(1,612,079)
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			(1,793,970)			(492,661)
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			(1,419,624)			(1,428,442)

			2023
Adjustments			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			2,732,024			860,022
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			(6,614,425)			(2,673,160)

Compensation Actually Paid vs. Total Shareholder Return

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, 2022, and 2023.

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

Compensation Actually Paid vs. Net Income

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, 2022, and 2023.

Compensation Actually Paid vs. Company Selected Measure

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, 2022, and 2023.

Total Shareholder Return Vs Peer Group

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, 2022, and 2023.

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

Tabular List, Table

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, 2023.

Total Shareholder Return Amount

$ 274.13

339.42

310.25

253.46

Peer Group Total Shareholder Return Amount

98.68

104.93

137.24

132.83

Net Income (Loss)

$ (21,153,000)

$ (44,881,000)

$ (42,042,000)

$ (57,203,000)

Company Selected Measure Amount

624,799,000

407,856,000

233,394,000

115,381,000

Timothy P. Herbert

Timothy P. Herbert

Timothy P. Herbert

Timothy P. Herbert

Pay vs Performance Disclosure

revenue

Pay vs Performance Disclosure

adjusted operating income (loss)

Pay vs Performance Disclosure

insurance reimbursement approvals

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

$ (6,614,425)

PEO | Amounts Reported under the “Stock Awards” and “Option Awards” Columns in the Summary Compensation Table for Applicable FY [Member]

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

(6,132,855)

PEO | 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

Adjustment to Compensation, Amount

(1,793,970)

PEO | 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

Adjustment to Compensation, Amount

0

PEO | 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

Adjustment to Compensation, Amount

(1,419,624)

PEO | 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

Adjustment to Compensation, Amount

2,732,024

PEO | 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

Adjustment to Compensation, Amount

0

PEO | Dividends or Other Earnings Paid during Applicable FY prior to Vesting Date [Member]

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

0

PEO | Fair Value of Options/SARs Modified during Applicable FY [Member]

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

0

PEO | 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

Adjustment to Compensation, Amount

0

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

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

0

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

(2,673,160)

Non-PEO NEO | Amounts Reported under the “Stock Awards” and “Option Awards” Columns in the Summary Compensation Table for Applicable FY [Member]

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

(1,612,079)

Non-PEO NEO | 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

Adjustment to Compensation, Amount

(492,661)

Non-PEO NEO | 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

Adjustment to Compensation, Amount

0

Non-PEO NEO | 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

Adjustment to Compensation, Amount

(1,428,442)

Non-PEO NEO | 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

Adjustment to Compensation, Amount

860,022

Non-PEO NEO | 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

Adjustment to Compensation, Amount

0

Non-PEO NEO | Dividends or Other Earnings Paid during Applicable FY prior to Vesting Date [Member]

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

0

Non-PEO NEO | Fair Value of Options/SARs Modified during Applicable FY [Member]

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

0

Non-PEO NEO | 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

Adjustment to Compensation, Amount

0

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

Pay vs Performance Disclosure

Adjustment to Compensation, Amount

$ 0