Restructuring - Restructuring Expense by Segment (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Restructuring Cost and Reserve [Line Items]
Charges	$ 88	$ 0	$ 9,781	$ 0
As Previously Reported
Restructuring Cost and Reserve [Line Items]
Charges		(349)		2,025
Operating Segments | Cardiovascular
Restructuring Cost and Reserve [Line Items]
Charges	53		2,882
Operating Segments | Cardiovascular | As Previously Reported
Restructuring Cost and Reserve [Line Items]
Charges		9		1,265
Operating Segments | Neuromodulation
Restructuring Cost and Reserve [Line Items]
Charges	(28)		1,493
Operating Segments | Neuromodulation | As Previously Reported
Restructuring Cost and Reserve [Line Items]
Charges		43		851
Other
Restructuring Cost and Reserve [Line Items]
Charges	$ 63		$ 5,406
Other | As Previously Reported
Restructuring Cost and Reserve [Line Items]
Charges		$ (401)		$ (91)