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v3.23.3

Stock-Benefit Plans and Equity Transactions - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | ---
Aug. 11, 2023 | Apr. 19, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 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 |  |  |  |  | $ 67,428 |  |
At the Market Offering |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares issued in transaction | 668,484 |  |  |  |  |  |
Common stock, par value | $ 0.0001 |  |  |  |  |  |
Proceeds from common stock offering | $ 9,900 |  |  |  |  |  |
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 |  |  |  | 0 | 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 |  |  |  | 14,000,000 | 6,311,000,000 | 140,000,000 |
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 |  |  | $ 70,500 |  | $ 70,500 |  |
Unamortized compensation expense to be recognized over weighted average period |  |  |  |  | 1 year 8 months 8 days |  |
Shares of common stock issued before net settlement |  |  | 789,000 | 563,000 | 5,714,000 | 3,103,000 |
ESPP |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Shares issued under ESPP |  |  | 0 | 0 | 247,000,000 | 222,000,000 |

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