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Stock-Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Dec. 31, 2017
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Warrants outstanding   17,486,000   17,486,000  
Stock-based compensation       $ 30,464 $ 26,724
Mr. Miles          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Warrant expiration period 5 years        
Number of warrants exercised       0  
Safe Op Surgical Inc          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Warrant expiration period       5 years  
Proceeds from exercise of warrant         $ 100
Number of warrants exercised   0 0 257,000 970,000
Warrants outstanding   938,000   938,000  
2017 PIPE Warrants          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Warrant expiration period       5 years  
Proceeds from exercise of warrant     $ 600 $ 3,500 $ 1,600
Number of warrants exercised     275,000 2,312,000 795,000
Warrants outstanding   0   0  
2018 Common Stock Warrants          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Warrant expiration period       5 years  
Proceeds from exercise of warrant     $ 100 $ 400 $ 1,500
Number of warrants exercised   14,000 40,000 140,000 2,881,000
Warrants outstanding   8,340,000   8,340,000  
Exercise price of warrants   $ 3.50   $ 3.50  
Squadron Medical | Participant Lender          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of warrants exercised       0  
Warrants expire month and year       2027-05  
RSU's and PRSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unamortized compensation expense   $ 47,800   $ 47,800  
Unamortized compensation expense to be recognized over weighted average period       1 year 7 months 24 days  
Shares of common stock issued before net settlement   563,000 504,000 3,103,000 2,581,000
ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares issued under ESPP   0 0 222,000 112,000