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Commitments and contingencies - Narrative (Details) - USD ($) $ in Thousands |  |  |  |  |  |  |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 28, 2022 | Dec. 23, 2022 | Nov. 01, 2022 | Nov. 10, 2021 | Aug. 19, 2021 | Dec. 22, 2020 | Aug. 23, 2019 | Feb. 09, 2016 | Feb. 28, 2021 | Apr. 01, 2023 | Apr. 02, 2022 | Dec. 31, 2022
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Loss contingency, damages sought, value |  |  |  |  |  |  |  |  | $ 3,000 |  |  |
Stop loss insurance, threshold per member per year |  |  |  |  |  |  |  |  |  | $ 200 |  |
Three Injection OA Product |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Supply commitment, term |  |  |  |  |  |  |  | 10 years |  |  |  |
Supply commitment, renewal term |  |  |  |  |  |  |  | 5 years |  |  |  |
HA Product |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Collaborative arrangement, upfront payments |  |  |  | $ 853 |  |  |  |  |  |  |  |
Collaborative arrangement, amount payable upon transfer of customer data |  |  |  |  |  |  |  |  |  |  |  | $ 853
Collaborative arrangement, amount payable upon obtaining product certification |  |  |  | $ 1,707 |  |  |  |  |  |  |  |
Collaborative arrangement, royalty percentage, threshold one |  |  |  | 5.00% |  |  |  |  |  |  |  |
Collaborative arrangement, sales threshold for royalties |  |  |  | $ 569 |  |  |  |  |  |  |  |
Collaborative arrangement, royalty percentage, threshold two |  |  |  | 2.50% |  |  |  |  |  |  |  |
Bioness, Inc |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Loss contingency, damages sought, percentage of demanded amount to be paid |  |  |  |  | 50.00% |  |  |  |  |  |  |
Loss contingency, damages sought, percentage under dispute |  |  |  |  | 50.00% |  |  |  |  |  |  |
Litigation settlement, amount awarded to other party |  | $ 2,500 |  |  | $ 1,300 |  |  |  |  |  |  |
Expense of claimant |  |  | $ 50 |  |  |  |  |  |  |  |  |
Accrual payments | $ 1,200 | $ 1,300 |  |  |  |  |  |  |  |  |  |
Bioness, Inc |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Amount recovered from escrow | $ 1,300 |  |  |  |  |  |  |  |  |  |  |
Harbor |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Collaborative agreement, royalty percentage |  |  |  |  |  |  | 3.00% |  |  |  |  |
Supply commitment, term |  |  |  |  |  | 8 years |  |  |  |  |  |
Supplier of Single Injection OA Product |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Royalty expense |  |  |  |  |  |  |  |  |  | $ 2,321 | $ 3,332 |
Minimum |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Lessee, operating lease, remaining lease term |  |  |  |  |  |  |  |  |  | 1 month |  |
Maximum |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Lessee, operating lease, remaining lease term |  |  |  |  |  |  |  |  |  | 10 years |  |

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