Agreements with Endospan (Details)		1 Months Ended			3 Months Ended	12 Months Ended
	Sep. 11, 2019 USD ($)	May 31, 2023 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2019 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2023 USD ($) tranche	Dec. 31, 2021 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2019 USD ($)
Variable Interest Entity [Line Items]
Securities purchase option agreement, expiration period						90 days
Number of tranches | tranche						3
Endospan
Variable Interest Entity [Line Items]
Securities purchase option agreement	$ 1,000,000			$ 1,000,000
Funded tranche payment	5,000,000	$ 5,000,000	$ 5,000,000			$ 5,000,000
Required percentage of number of patients before tranche of loan funding can be acquired		50.00%
Investment in VIE	15,000,000					25,000,000
Loan									$ 358,000
Distribution agreements, fair value						1,800,000		$ 3,500,000
Expense from fair value adjustment						$ 5,000,000	$ 409,000
Asset impairment					$ 4,900,000
Endospan | Secured Debt
Variable Interest Entity [Line Items]
Notes receivable balance	15,000,000
Endospan | Minimum
Variable Interest Entity [Line Items]
Option to purchase outstanding securities				350,000,000.0
Endospan | Maximum
Variable Interest Entity [Line Items]
Option to purchase outstanding securities				$ 450,000,000
Endospan | JOTEC GmbH
Variable Interest Entity [Line Items]
Distribution fee	$ 9,000,000