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Equity - Additional Information (Details) - USD ($) |  |  |  |  |  |  | 12 Months Ended
--- | --- | --- | --- | --- | --- | --- | ---
Nov. 17, 2023 | Oct. 27, 2023 | Aug. 11, 2023 | Apr. 19, 2023 | Aug. 03, 2021 | Mar. 01, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock, par value |  |  |  |  |  |  | $ 0.0001 | $ 0.0001 |
Common stock, shares authorized |  |  |  |  |  |  | 200,000,000 | 200,000,000 |
Net proceeds from offering |  |  |  |  |  |  | $ 213,181,000 |  | $ 131,828,000
Redeemable preferred stock carrying value |  |  |  |  |  |  | $ 23,603,000 | $ 23,603,000 |
Redeemable preferred stock authorized |  |  |  |  |  |  | 20,000,000 | 20,000,000 |
Redeemable preferred stock, price per share |  |  |  |  |  |  | $ 0.0001 | $ 0.0001 |
Warrants outstanding |  |  |  |  |  |  | 8,219,000 |  |
Patrick S. Miles |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrant extended term |  |  |  |  |  |  | 7 years |  |
Warrant expiration period |  |  |  |  |  |  | 5 years |  |
Number of warrants issued (in shares) |  |  |  |  |  |  | 0 |  |
SafeOp Surgical, Inc. |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrant expiration period |  |  |  |  |  |  | 5 years |  |
Number of warrants exercised |  |  |  |  |  |  | 937,000 | 257,000 |
Warrants outstanding |  |  |  |  |  |  | 0 |  |
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 |  |  |  |  |  |  |  | $ 3,500,000 |
Number of warrants exercised |  |  |  |  |  |  |  | 2,312,000 |
Warrants outstanding |  |  |  |  |  |  |  | 0 |
2018 Common Stock Warrants |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Proceeds from exercise of warrant |  |  |  |  |  |  | $ 400,000 | $ 400,000 |
Number of warrants exercised |  |  |  |  |  |  | 6,311,000 | 2,168,000 |
Warrants outstanding |  |  |  |  |  |  | 0 |  |
Redeemable Preferred Stock |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Redeemable preferred stock carrying value |  |  |  |  |  |  | $ 23,600,000 | $ 23,600,000 |
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 |
Common Stock |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  |  |  |  | 19,725,000 |  |
Underwritten Public Offering |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Additional common stock shares granted to purchase, optional | 470,769 |  |  |  |  |  |  |  |
Net proceeds from offering | $ 145,800,000 |  |  |  |  |  |  |  |
Underwritten Public Offering | Common Stock |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares offering price per share |  | $ 10.5 |  |  |  |  |  |  |
Common stock issued |  | 14,300,000 |  |  |  |  |  |  |
Private Placement |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  |  |  | 12,421,242 |  |  |
Net proceeds from private placement |  |  |  |  |  | $ 131,800,000 |  |  |
Gross proceeds from private placement |  |  |  |  |  | 138,000,000 |  |  |
Private placement fee net |  |  |  |  |  | $ 6,200,000 |  |  |
Private Placement | Common Stock |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  |  |  |  |  |  | 12,421,000
Market Offering |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Number of shares issued in transaction |  |  | 668,484 |  |  |  |  |  |
Net proceeds from offering |  |  | $ 9,900,000 |  |  |  |  |  |
Registered Securities Offering |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Number of shares issued in transaction |  |  |  | 4,285,715 |  |  |  |  |
Net proceeds from offering |  |  |  | $ 57,500,000 |  |  |  |  |
Registered Securities Offering | Common Stock |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares offering price per share |  |  |  | $ 14 |  |  |  |  |
0.75% Convertible Senior Notes |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Share repurchase, authorized amount |  |  |  |  | $ 25,000,000 |  |  |  |
Number of shares repurchased |  |  |  |  | 1,806,358 |  | 0 | 0 |
Aggregate price of repurchased shares |  |  |  |  | $ 25,000,000 |  |  |  |

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