Condensed Consolidated Statements of Cash Flows (Unaudited) - USD ($) $ in Thousands	3 Months Ended				9 Months Ended		12 Months Ended
	Sep. 30, 2020	Mar. 31, 2020	Sep. 30, 2019	Mar. 31, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
Operating Activities:
Net loss	$ (15,082)	$ (16,598)	$ (97,771)	$ (22,525)	$ (45,521)	$ (140,469)
Adjustments to reconcile net loss to net cash and cash equivalents used in operating activities:
Loss from sale of SurgiBot assets, net	0		0		0	97
Goodwill and intangible assets impairment					0	86,881
Depreciation					2,015	1,651
Amortization of intangible assets	2,780		2,558		7,964	7,754
Amortization of debt discount and debt issuance costs					0	1,437
Amortization of short-term investment discount					0	(328)
Stock-based compensation					5,800	9,727
Interest expense on deferred consideration - MST acquisition					0	762
Deferred tax benefit					(1,386)	(2,549)
Bad debt expense	0		1,600		0	1,630
Write down of inventory	0		800		0	761
Change in fair value of warrant liabilities	(63)		(614)		206	(3,036)
Change in fair value of contingent consideration	502		(11,647)		1,770	(9,689)
Changes in operating assets and liabilities:
Accounts receivable					(252)	4,313
Interest receivable					0	3
Inventories					(4,410)	(14,141)
Other current and long term assets					2,233	(2,313)
Accounts payable					(706)	(914)
Accrued expenses					(1,191)	(1,439)
Deferred revenue					(56)	(867)
Other long term liabilities					(376)	1,613
Net cash and cash equivalents used in operating activities					(33,910)	(59,116)
Investing Activities:
Purchase of short-term investments					0	(12,883)
Proceeds from maturities of short-term investments					0	65,000
Purchase of property and equipment					(3)	(392)
Net cash and cash equivalents (used in) provided by investing activities					(3)	51,725
Financing Activities:
Proceeds from issuance of common stock, preferred stock and warrants under 2020 financing, net of issuance costs					13,525	0
Proceeds from issuance of common stock, net of issuance costs					24,861	23,725
Proceeds from notes payable and warrants, net of issuance costs					2,815	(30)
Payment of note payable					0	(15,000)
Taxes paid related to net share settlement of vesting of restricted stock units					(33)	(499)
Payment of contingent consideration					(74)	0
Proceeds from exercise of stock options and warrants					3,340	539
Net cash and cash equivalents provided by financing activities					44,434	8,735
Effect of exchange rate changes on cash and cash equivalents					30	(191)
Net increase in cash, cash equivalents and restricted cash					10,551	1,153
Cash, cash equivalents and restricted cash, beginning of period		$ 10,567		$ 21,651	10,567	21,651	$ 21,651
Cash, cash equivalents and restricted cash, end of period	$ 21,118		$ 22,804		21,118	22,804	$ 10,567
Supplemental Disclosure for Cash Flow Information:
Interest paid					0	2,073
Supplemental Schedule of Non-cash Investing and Financing Activities:
Transfer of inventories to property and equipment					5,839	478
Exchange of common stock for Series B Warrants					2,470	0
Transfer of in-process research and development to intellectual property					2,425	0
Issuance of common stock - MST acquisition					0	6,600
Conversion of preferred stock to common stock					$ 79	$ 0