Debt - Narrative (Details)
1 Months Ended 3 Months Ended 9 Months Ended 17 Months Ended
Apr. 26, 2022
USD ($)
Jun. 17, 2019
Aug. 31, 2019
USD ($)
Sep. 30, 2023
USD ($)
tranche
Sep. 30, 2022
USD ($)
Dec. 31, 2017
USD ($)
Sep. 30, 2023
USD ($)
tranche
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
tranche
Dec. 31, 2022
USD ($)
Aug. 31, 2017
USD ($)
Aug. 24, 2017
USD ($)
Debt Instrument [Line Items]                        
Number of tranches | tranche       4     4   4      
Loss on extinguishment of debt       $ 0 $ 0   $ 0 $ 19,019,000        
Oaktree Credit Agreement | Line of Credit                        
Debt Instrument [Line Items]                        
Maximum borrowing capacity $ 225,000,000                      
Early repayment amount $ 5,000,000                      
Capital lease term 5 years                      
Effective interest rate 9.00%     10.40%     10.40%   10.40%      
Interest rate paid in kind, basis points 60000.00%                      
Original discount rate 2.00%                      
Exit fee 3.00%                      
Minimum liquidity requirement $ 20,000,000                      
Gross sales requirement, period 12 months                      
Minimum gross sales $ 200,000,000                      
Minimum gross sales percentage 50.00%                      
Weighted average interest rate       9.00%     9.00%   9.00%      
Amount of cash interest payments eligible for interest-in-kind payment       0.67     0.67   0.67      
Minimum initial cash interest rate 0.0300                      
Interest expense       $ 4,300,000 $ 3,500,000   $ 12,600,000 5,900,000        
Outstanding principal balance       $ 189,690,000     $ 189,690,000   $ 189,690,000 $ 181,314,000    
Interest accrued                 $ 14,700,000      
Oaktree Credit Agreement | Line of Credit | Prior to Second Anniversary                        
Debt Instrument [Line Items]                        
Yield protection premium fee 4.00%                      
Oaktree Credit Agreement | Line of Credit | Prior to Third Anniversary                        
Debt Instrument [Line Items]                        
Yield protection premium fee 4.00%                      
Oaktree Credit Agreement | Line of Credit | Prior to Fourth Anniversary                        
Debt Instrument [Line Items]                        
Yield protection premium fee 2.00%                      
Oaktree Credit Agreement | Line of Credit | Subsequent to Fourth Anniversary                        
Debt Instrument [Line Items]                        
Yield protection premium fee 0.00%                      
Credit Agreement, Tranche A Term Loan | Line of Credit                        
Debt Instrument [Line Items]                        
Maximum borrowing capacity $ 150,000,000                      
Madryn Credit Agreement | Line of Credit                        
Debt Instrument [Line Items]                        
Early repayment amount 6,500,000                      
Effective interest rate       18.40%     18.40%   18.40%      
Weighted average interest rate       10.60%     10.60%   10.60%      
Interest expense               $ 2,200,000        
Fair value of options                     $ 15,100,000  
Debt discount     $ 1,600,000     $ 5,000,000            
Borrowings on credit facility     $ 25,000,000     $ 10,000,000            
Madryn Credit Agreement | Line of Credit | LIBOR rate                        
Debt Instrument [Line Items]                        
Credit agreement interest rate   8.00%                    
Credit Agreement, Tranche B Term Loan | Line of Credit                        
Debt Instrument [Line Items]                        
Maximum borrowing capacity 25,000,000                      
Minimum liquidity requirement 25,000,000                      
Credit Agreement, Tranche C Term Loan | Line of Credit                        
Debt Instrument [Line Items]                        
Maximum borrowing capacity 25,000,000                      
Credit Agreement, Tranche D Term Loan | Line of Credit                        
Debt Instrument [Line Items]                        
Maximum borrowing capacity $ 25,000,000                      
Effective interest rate 8.25%                      
Amended Madryn Credit Agreement | Line of Credit                        
Debt Instrument [Line Items]                        
Maximum borrowing capacity                       $ 65,000,000
Debt repayment $ 65,000,000                      
Loss on extinguishment of debt $ 19,000,000