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Legal Proceedings (Details) - USD ($) $ in Millions | Jan. 18, 2017 | Jun. 30, 2021
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Loss Contingencies [Line Items] |  |
Product liability insurance, amount per incident |  | $ 30.0
Product liability insurance, aggregate annual amount |  | $ 30.0
Pending Litigation | EndoDynamix, Inc. | Liquidated Damages |  |
Loss Contingencies [Line Items] |  |
Loss Contingency, Damages Sought, Value | $ 12.7 |
Pending Litigation | EndoDynamix, Inc. | Additional Damages |  |
Loss Contingencies [Line Items] |  |
Loss Contingency, Damages Sought, Value | $ 24.8 |

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