Revenue - Additional Information (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue from Contract with Customer [Abstract]
Percentage of revenue subject to point-in-time recognition	99.90%	99.90%	99.90%	99.90%
Percentage of revenue on sale of extended warranties on capital equipment	0.10%	0.10%	0.10%	0.10%
Percentage of total revenue derived from sale of single-use (disposable) products	98.70%	97.00%	98.50%	98.00%