Acquisition of Ascyrus (Details) $ in Thousands		1 Months Ended	12 Months Ended
	Sep. 02, 2020 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2023 USD ($) item	Dec. 31, 2022 USD ($)
Business Acquisition [Line Items]
Noncurrent portion of contingent consideration			$ 63,890	$ 40,400
Ascyrus Medical LLC
Business Acquisition [Line Items]
Equity ownership percent	100.00%
Cash consideration	$ 60,000
Common stock value issued in business combination	20,000
Contingent consideration, fair value adjustment			(23,500)	9,000
Noncurrent portion of contingent consideration			$ 63,900	$ 40,400
Ascyrus Medical LLC | Measurement Input, Discount Rate
Business Acquisition [Line Items]
Contingent consideration, measurement input | item			0.07
Ascyrus Medical LLC | Maximum
Business Acquisition [Line Items]
Aggregate amount of consideration transferred	200,000
Ascyrus Medical LLC | FDA Approval IDE for AMDS
Business Acquisition [Line Items]
Cash consideration	10,000	$ 10,000
Common stock value issued in business combination	10,000	$ 10,000
Ascyrus Medical LLC | FDA Approval PMA for AMDS
Business Acquisition [Line Items]
Cash consideration	25,000
Ascyrus Medical LLC | AMDS Obtained In Japan
Business Acquisition [Line Items]
Cash consideration	10,000
Ascyrus Medical LLC | AMDS Obtained In China
Business Acquisition [Line Items]
Cash consideration	10,000
Ascyrus Medical LLC | Additional Potential Cash Payment If Japan Or China Obtains Approval
Business Acquisition [Line Items]
Cash consideration	55,000
Ascyrus Medical LLC | Additional Potential Cash Payment If Japan Or China Obtains Approval | Maximum
Business Acquisition [Line Items]
Cash consideration	75,000
Ascyrus Medical LLC | Additional Potential Cash Payment If Japan Or China Obtains Approval | Minimum
Business Acquisition [Line Items]
Cash consideration	$ 65,000
Ascyrus Medical LLC | Following FDA Approval For AMDS
Business Acquisition [Line Items]
Aggregate amount of consideration transferred			$ 100,000
Period of required contingent consideration	3 years