Consolidated Statements of Cash Flows - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Activities:
Net loss	$ (62,462)	$ (59,312)	$ (154,201)
Adjustments to reconcile net loss to net cash and cash equivalents used in operating activities:
Goodwill and intangible assets impairment	0	0	86,881
Depreciation	2,857	2,898	2,166
Amortization of intangible assets	11,254	10,801	10,301
Amortization of debt discount and debt issuance costs	0	0	1,513
Amortization of discounts and premiums on investments, net	409	0	(327)
Stock-based compensation	9,429	7,911	11,508
Interest expense on deferred consideration - MST acquisition	0	0	756
(Gain) loss on extinguishment of debt	(2,847)	0	1,006
Deferred tax expense (benefit)	225	(1,516)	(3,124)
Bad debt expense	144	0	1,634
Change in inventory reserves	(492)	(3,034)	8,931
Change in fair value of warrant liabilities	1,981	336	(2,248)
Change in fair value of contingent consideration	(1,565)	2,924	(9,553)
Changes in operating assets and liabilities:
Accounts receivable	174	(447)	6,083
Inventories	(611)	(4,164)	(16,404)
Operating lease right-of-use assets	(4,254)	1,106	2,271
Prepaid expenses	146	824	2,541
Employee retention tax credit receivable	(1,311)	0	0
Other current and long-term assets	902	366	(5,441)
Accounts payable	1,614	(1,758)	(668)
Accrued expenses	(475)	(2,219)	(168)
Deferred revenue	(229)	(105)	(959)
Operating lease liabilities	4,452	(1,203)	(2,515)
Other long-term liabilities	0	(83)	2,401
Net cash and cash equivalents used in operating activities	(40,659)	(46,675)	(73,484)
Investing Activities:
Proceeds from sale of AutoLap assets	0	0	15,965
Purchase of available-for-sale investments	(122,330)	0	(12,883)
Proceeds from maturities of available-for-sale investments	4,030	0	65,000
Purchase of property and equipment	(1,368)	(3)	(437)
Net cash and cash equivalents used in investing activities	(119,668)	(3)	67,645
Financing Activities:
Proceeds from issuance of common stock, preferred stock and warrants under 2020 financing, net of issuance costs	0	13,478	0
Proceeds from issuance of common stock, net of issuance costs	131,929	33,847	25,777
Proceeds from notes payable, net of issuance costs	0	2,815	0
Payment of note payable	0	0	(31,425)
Taxes paid related to net share settlement of vesting of restricted stock units	(1,063)	(36)	(499)
Payment of contingent consideration	0	(74)	0
Proceeds from exercise of stock options and warrants	30,839	3,340	538
Net cash and cash equivalents provided by financing activities	161,705	53,370	(5,609)
Effect of exchange rate changes on cash and cash equivalents	376	270	364
Net increase in cash, cash equivalents and restricted cash	1,754	6,962	(11,084)
Cash, cash equivalents and restricted cash, beginning of period	17,529	10,567	21,651
Cash, cash equivalents and restricted cash, end of period	19,283	17,529	10,567
Supplemental Disclosure for Cash Flow Information:
Interest paid	0	0	2,187
Cash paid for taxes	170	82	75
Supplemental Schedule of Non-cash Investing and Financing Activities:
Transfer of inventories to property and equipment	3,244	8,113	486
Right-of-use assets recognized related to new lease obligations	5,119	0	0
Reclass of warrant liability to common stock and additional paid-in capital	2,236	0	0
Exchange of common stock for Series B Warrants	0	2,470	0
Transfer of in-process research and development to intellectual property	0	2,425	0
Deemed dividend related to beneficial conversion feature of preferred stock	0	412	0
Deemed dividend related to conversion of preferred stock into common stock	0	299	0
Issuance of common stock - MST acquisition	0	0	6,600
Proceeds from sale of AutoLap assets exchanged for settlement of Company obligations	0	0	1,000
Transfer of property and equipment to inventories	0	0	323
Conversion of preferred stock to common stock	0	79	0
Auto Lap [Member]
Adjustments to reconcile net loss to net cash and cash equivalents used in operating activities:
Gain (loss) from sale of assets, net	0	0	(15,965)
SurgiBot System [Member]
Adjustments to reconcile net loss to net cash and cash equivalents used in operating activities:
Gain (loss) from sale of assets, net	$ 0	$ 0	$ 97