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Business Combinations - Payments Related to the 2017 Crossmed Acquisition (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Business Acquisition [Line Items]      
Payment of milestone payments, financing activities $ 0 $ 683 $ 1,758
Crossmed      
Business Acquisition [Line Items]      
Payments of milestone payments   1,200 1,300
Payment of milestone payments, operating activities   500 600
Payment of milestone payments, financing activities   $ 700 700
Current Liabilities | Crossmed      
Business Acquisition [Line Items]      
Contingent consideration for milestone payments     $ 1,200