Organization and Description of Business (Details) - USD ($) $ in Thousands				1 Months Ended		3 Months Ended		9 Months Ended
	Feb. 01, 2023	Jan. 13, 2023	Jun. 30, 2022	Jan. 31, 2023	Nov. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Subsidiary, Sale of Stock [Line Items]
Cash, cash equivalents, restricted cash and marketable securities						$ 45,500		$ 45,500		$ 76,200
Net loss						13,237	$ 20,425	47,898	$ 54,724
Net cash used in operating activities								(45,105)	(72,053)
Accumulated deficit						566,212		566,212		518,314
Working capital						$ 57,900		57,900		$ 98,000
Proceeds from sale of business								17,000	$ 50,000
Left-Heart Access Portfolio
Subsidiary, Sale of Stock [Line Items]
Contingent consideration received from sales								$ 6,100
Held-for-sale | Left-Heart Access Portfolio
Subsidiary, Sale of Stock [Line Items]
Proceeds from sale of business		$ 17,000	$ 50,000	$ 17,000	$ 20,000
Indemnity escrow account, amount			$ 4,000	$ 1,400	$ 1,600
Indemnity escrow account, term			18 months
Milestone consideration, period	4 years		4 years
Held-for-sale | Left-Heart Access Portfolio | Year one
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	100.00%		100.00%
Held-for-sale | Left-Heart Access Portfolio | Year two
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	75.00%		75.00%
Held-for-sale | Left-Heart Access Portfolio | Year three
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	50.00%		50.00%
Held-for-sale | Left-Heart Access Portfolio | Year four
Subsidiary, Sale of Stock [Line Items]
Milestone consideration, royalty percentage	50.00%		50.00%