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Accrued Expenses and Other Current Liabilities - Narrative (Details)
 3 Months Ended 9 Months Ended
Sep. 30, 2024
USD ($)
Sep. 30, 2023
USD ($)
Dec. 31, 2022
USD ($)
notice
Sep. 30, 2024
USD ($)
Sep. 30, 2023
USD ($)
Jun. 30, 2024
USD ($)
Dec. 31, 2023
USD ($)
Jun. 30, 2023
USD ($)
Product Warranty Liability [Line Items]                
Number of voluntary medical device correction notices issued | notice     2          
Change in estimate $ 0 $ (1,900,000)   $ (400,000) $ (10,700,000)      
Product warranty liability outstanding 12,900,000 $ 11,900,000 $ 62,100,000 12,900,000 11,900,000 $ 11,600,000 $ 10,300,000 $ 21,300,000
Medical Device Correction Notices (“MDCs”)                
Product Warranty Liability [Line Items]                
Change in estimate         $ 10,700,000      
Product warranty liability outstanding $ 0     $ 0        
United States and Europe                
Product Warranty Liability [Line Items]                
Product warranty term for PDMs (in years)       4 years        
CANADA                
Product Warranty Liability [Line Items]                
Product warranty term for PDMs (in years)       5 years