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Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  | 12 Months Ended
--- | --- | --- | --- | ---
Aug. 03, 2021 | Mar. 01, 2021 | Oct. 16, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Common stock, shares authorized |  |  |  | 200,000,000 | 200,000,000 |
Net proceeds from offering |  |  |  |  | $ 131,828 | $ 107,698
Redeemable preferred stock carrying value |  |  |  | $ 23,603 | $ 23,603 |
Redeemable preferred stock authorized |  |  |  | 20,000,000 | 20,000,000 |
Redeemable preferred stock, price per share |  |  |  | $ 0.0001 | $ 0.0001 |
Warrants outstanding |  |  |  | 15,491,000 |  |
Stock-based compensation |  |  |  | $ 40,556 | $ 36,450 | $ 17,659
Patrick S. Miles |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Number of warrants issued (in shares) |  |  |  | 0 |  |
SafeOp Surgical, Inc. |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Warrant expiration period |  |  |  | 5 years |  |
Proceeds from exercise of warrant |  |  |  |  | $ 100 |
Number of warrants exercised |  |  |  | 257,000 | 970,000 |
Warrants outstanding |  |  |  | 938,000 |  |
Squadron Medical | Participant Lender |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Number of warrants issued (in shares) |  |  |  | 0 |  |
2017 PIPE Warrants |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Warrant expiration period |  |  |  | 5 years |  |
Proceeds from exercise of warrant |  |  |  | $ 3,500 | $ 1,600 |
Number of warrants exercised |  |  |  | 2,312,000 | 795,000 |
Warrants outstanding |  |  |  | 0 |  |
2018 Common Stock Warrants |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Warrant expiration period |  |  |  | 5 years |  |
Proceeds from exercise of warrant |  |  |  | $ 400 | $ 1,500 |
Number of warrants exercised |  |  |  | 2,168,000 | 2,901,000 |
Warrants outstanding |  |  |  | 6,311,000 |  |
Exercise price of warrants |  |  |  | $ 3.50 |  |
Redeemable Preferred Stock |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Redeemable preferred stock carrying value |  |  |  | $ 23,600 | $ 23,600 |
Redeemable preferred stock authorized |  |  |  | 20,000,000 | 20,000,000 |
Redeemable preferred stock redemption, price per share |  |  |  | $ 9.00 | $ 9.00 |
Redeemable preferred stock, price per share |  |  |  | $ 7.11 | $ 7.11 |
Private Placement |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Common stock issued |  | 12,421,242 |  |  |  |
Net proceeds from private placement |  | $ 131,800 |  |  |  |
Gross proceeds from private placement |  | 138,000 |  |  |  |
Private placement fee net |  | $ 6,200 |  |  |  |
Private Placement | Common Stock |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Common stock issued |  |  |  |  | 12,421,000 |
Underwritten Public Offering | Common Stock |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Common stock issued |  |  | 13,142,855 |  |  |
Net proceeds from offering |  |  | $ 107,700 |  |  |
Gross proceeds from offering |  |  | 115,000 |  |  |
Common stock fee net |  |  | $ 7,300 |  |  |
0.75% Convertible Senior Notes |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |
Share repurchase, authorized amount | $ 25,000 |  |  |  |  |
Number of shares repurchased | 1,806,358 |  |  | 0 |  | 0
Aggregate price of repurchased shares | $ 25,000 |  |  |  |  |

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