Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 6,314	$ 5,981
Less: Accumulated depreciation	(4,810)	(3,646)
Property and equipment, net	1,504	2,335
Trocars
Property, Plant and Equipment [Line Items]
Property and equipment, gross	4,645	4,448
Leasehold Improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	1,028	254
Office Equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	238	223
Computer Software
Property, Plant and Equipment [Line Items]
Property and equipment, gross	140	135
Furniture and Fixtures
Property, Plant and Equipment [Line Items]
Property and equipment, gross	161	119
Computer Equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 102	97
Construction in Progress
Property, Plant and Equipment [Line Items]
Property and equipment, gross		$ 705

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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