Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 7,942	$ 6,832
Less: Accumulated depreciation	(5,751)	(5,614)
Property and equipment, net	2,191	1,218
Trocars
Property, Plant and Equipment [Line Items]
Property and equipment, gross	4,644	4,644
Leasehold Improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	2,206	1,506
Office Equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	374	253
Computer Software
Property, Plant and Equipment [Line Items]
Property and equipment, gross	140	140
Furniture and Fixtures
Property, Plant and Equipment [Line Items]
Property and equipment, gross	330	181
Computer Equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	127	$ 108
Construction in process
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 121