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Debt - Squadron Medical Credit Agreement (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Aug. 10, 2021 | Nov. 06, 2018 | Dec. 31, 2020 | Dec. 31, 2021 | Dec. 31, 2023 | Dec. 31, 2022
Line Of Credit Facility [Line Items] |  |  |  |  |  |
Issuance of common stock |  |  |  |  | 139,257,000 | 106,673,000
Gain (loss) on debt extinguishment |  |  |  | $ (7,434) |  |
Number of warrants outstanding |  |  |  |  | 8,219,000 |
Squadron Medical Term Loan |  |  |  |  |  |
Line Of Credit Facility [Line Items] |  |  |  |  |  |
Issuance of common stock |  |  | 2,700,270 |  |  |
Common stock price per share |  |  | $ 11.11 |  |  |
Additional debt issuance costs |  |  | $ 3,800 |  |  |
New debt issuance costs |  |  | 30,000 |  |  |
Gain (loss) on debt extinguishment |  | $ (6,100) |  | $ (11,700) |  |
Debt instrument capitalized non-cash costs |  | $ 3,800 |  |  |  |
Repaid of outstanding principal | $ 45,000 |  |  |  |  |
Accrued interest | $ 200 |  |  |  |  |
Squadron Medical Term Loan | Common Stock | Participant Lender |  |  |  |  |  |
Line Of Credit Facility [Line Items] |  |  |  |  |  |
Number of warrants outstanding |  |  |  |  |  | 6,759,530
Squadron Medical Term Loan | Term Loan |  |  |  |  |  |
Line Of Credit Facility [Line Items] |  |  |  |  |  |
Additional line of credit |  |  | $ 15,000 |  |  |
Debt instrument, maturity date |  |  | Jun. 30, 2026 |  |  |
Secured debt agreement |  |  | $ 30,000 |  |  |

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