Commitments and Contingencies - Deed of Settlement (Details) - 1 months ended Aug. 31, 2021 - Settlement Agreement with IntelliMedical Technologies Pty Ltd $ in Millions, $ in Millions	USD ($)	AUD ($)
Deed of Settlement
Contract termination cost	$ 6.0
Decrease in associated contract obligation		$ 15

The loss recognized on termination of a contract.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 912
-SubTopic 275
-Section 50
-Paragraph 4
-URI http://asc.fasb.org/extlink&oid=84167019&loc=d3e54681-109401

Name:	us-gaap_LossOnContractTermination
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration