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Stock-Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended		6 Months Ended
	Apr. 19, 2023	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants outstanding		8,226,000		8,226,000
Common stock, par value		$ 0.0001		$ 0.0001		$ 0.0001
Proceeds from common stock offering				$ 57,511
Registered Securities Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value	$ 0.0001
Proceeds from common stock offering	$ 57,500
Registered Securities Offering \| Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares issued in transaction	4,285,715
Shares offering price per share	$ 14.00
Mr. Miles
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrant expiration period				5 years
Warrant extended term				7 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
Number of warrants exercised		778,000	257,000	937,000	257,000
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				$ 400	$ 400
Number of warrants exercised		630,000,000	0	6,311,000,000	126,000,000
Warrants outstanding		0		0
Squadron Medical \| Participant Lender
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrants exercised				0
RSU's and PRSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unamortized compensation expense		$ 75,300		$ 75,300
Unamortized compensation expense to be recognized over weighted average period				1 year 9 months 25 days
Shares of common stock issued before net settlement		2,921,000	1,310,000	4,889,000	2,540,000
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued under ESPP		247,000,000	222,000,000	247,000,000	222,000,000