Debt - Schedule of Madryn Debt (Details) - Madryn Credit Agreement - Line of Credit - USD ($) $ in Thousands |
Sep. 30, 2021 |
Dec. 31, 2020 |
|---|---|---|
| Line of Credit Facility [Line Items] | ||
| Principal | $ 65,000 | $ 65,000 |
| Net unamortized debt discount and issuance costs | (13,657) | (15,168) |
| Net carrying value of Madryn debt | $ 51,343 | $ 49,832 |