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v3.22.1

Summary of Significant Accounting Policies - Narrative (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 2 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Sep. 30, 2021 USD ($) $ / shares shares | Jun. 30, 2021 USD ($) $ / shares | Aug. 31, 2020 USD ($) | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | May 31, 2021 $ / shares
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Reverse stock split, conversion ratio | 0.2105 |  |  |  |  |
Payments for underwriting discount and commissions | $ | $ 13,200 |  |  |  |  |
Payments of stock issuance costs | $ | $ 2,900 | $ 290 | $ 496 | $ 16,121 |  |
Convertible preferred stock, shares, number of shares issued upon conversion (in shares) | 29,912,264 |  |  |  |  |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering | $ |  |  |  | $ 329,534 | $ 9,520 |
Common stock, par value (in dollars per share) | $ / shares | $ 0.00001 | $ 0.00001 |  | $ 0.00001 | $ 0.00001 | $ 0.001
Preferred Stock, shares authorized (in shares) | 10,000,000 |  |  |  | 0 |
Common stock, shares authorized (in shares) | 300,000,000 |  |  |  | 40,000,000 |
Preferred Stock, par value (in dollars per share) | $ / shares | $ 0.00001 |  |  |  |  |
Issuance upon exercise of warrants (in shares) |  |  |  | 62,000 | 651,000 |
Impairment of long-lived assets | $ |  |  |  | $ 0 | $ 0 |
Deferred offering costs | $ |  |  |  | $ 0 | $ 0 |
Product warranty period (in years) |  |  |  | 1 year |  |
Service agreement, amortization period |  |  |  | 1 year |  |
Series E, Redeemable Convertible Preferred Stock |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Warrants outstanding (in shares) |  |  |  | 0 | 72,000 |
Additional Paid-in Capital |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering | $ | $ 329,500 |  |  | $ 329,534 | $ 9,520 |
Common stock warrants | Series E, Redeemable Convertible Preferred Stock |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Issuance upon exercise of warrants (in shares) | 62,454 |  |  | 62,454 | 0 |
Warrants outstanding (in shares) |  |  |  | 0 |  |
Minimum |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Useful life (in years) |  |  |  | 3 years |  |
Lessor, operating lease term (in months) |  |  |  | 3 months |  |
Minimum | AquaBeam Robotic Systems |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Lessor, operating lease term (in months) |  |  |  | 3 months |  |
Maximum |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Useful life (in years) |  |  |  | 5 years |  |
Lessor, operating lease term (in months) |  |  |  | 12 months |  |
Maximum | AquaBeam Robotic Systems |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Lessor, operating lease term (in months) |  |  |  | 12 months |  |
Common Stock |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Share price (in dollars per share) | $ / shares | $ 25.00 |  |  |  |  |
Common Stock | IPO |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Sale of stock, number of shares issued in transaction (in shares) | 6,556,000 |  |  |  |  |
Sale of stock, consideration received on transaction | $ | $ 172,400 |  |  |  |  |
Common Stock | Over-Allotment Option |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Sale of stock, number of shares issued in transaction (in shares) | 983,400 |  |  |  |  |

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