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Acquisition of Ascyrus (Details) $ in Thousands |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 02, 2020 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2023 USD ($) item | Dec. 31, 2022 USD ($)
Business Acquisition [Line Items] |  |  |  |
Noncurrent portion of contingent consideration |  |  | $ 63,890 | $ 40,400
Ascyrus Medical LLC |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Equity ownership percent | 100.00% |  |  |
Cash consideration | $ 60,000 |  |  |
Common stock value issued in business combination | 20,000 |  |  |
Contingent consideration, fair value adjustment |  |  | (23,500) | 9,000
Noncurrent portion of contingent consideration |  |  | $ 63,900 | $ 40,400
Ascyrus Medical LLC | Measurement Input, Discount Rate |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Contingent consideration, measurement input | item |  |  | 0.07 |
Ascyrus Medical LLC | Maximum |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Aggregate amount of consideration transferred | 200,000 |  |  |
Ascyrus Medical LLC | FDA Approval IDE for AMDS |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | 10,000 | $ 10,000 |  |
Common stock value issued in business combination | 10,000 | $ 10,000 |  |
Ascyrus Medical LLC | FDA Approval PMA for AMDS |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | 25,000 |  |  |
Ascyrus Medical LLC | AMDS Obtained In Japan |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | 10,000 |  |  |
Ascyrus Medical LLC | AMDS Obtained In China |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | 10,000 |  |  |
Ascyrus Medical LLC | Additional Potential Cash Payment If Japan Or China Obtains Approval |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | 55,000 |  |  |
Ascyrus Medical LLC | Additional Potential Cash Payment If Japan Or China Obtains Approval | Maximum |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | 75,000 |  |  |
Ascyrus Medical LLC | Additional Potential Cash Payment If Japan Or China Obtains Approval | Minimum |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Cash consideration | $ 65,000 |  |  |
Ascyrus Medical LLC | Following FDA Approval For AMDS |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Aggregate amount of consideration transferred |  |  | $ 100,000 |
Period of required contingent consideration | 3 years |  |  |

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