Annual report pursuant to Section 13 and 15(d)

Document and Entity Information

Document and Entity Information - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Mar. 23, 2023
Jun. 30, 2022
Cover [Abstract]      
Entity Registrant Name Ra Medical Systems, Inc.    
Entity Central Index Key 0001716621    
Document Type 10-K    
Document Period End Date Dec. 31, 2022    
Amendment Flag false    
Entity Voluntary Filers No    
Entity Well Known Seasoned Issuer No    
Entity Current Reporting Status Yes    
Current Fiscal Year End Date --12-31    
Trading Symbol RMED    
Entity Filer Category Non-accelerated Filer    
Entity Common Stock, Shares Outstanding   4,984,093  
Entity Public Float     $ 9.9
Document Fiscal Year Focus 2022    
Document Fiscal Period Focus FY    
Entity Emerging Growth Company true    
Entity Small Business true    
Entity Shell Company false    
Entity Ex transition period false    
Title of 12(b) Security Common Stock, $0.0001 par value    
Security Exchange Name NYSEAMER    
Entity Tax Identification Number 38-3661826    
Entity Address, Address Line One 1670 Highway 160 West, Suite 205    
Entity File Number 001-38677    
Entity Address, City or Town Fort Mill    
Entity Address, State or Province SC    
Entity Address, Postal Zip Code 29708    
City Area Code 973    
Local Phone Number 691-2000    
Document Transition Report false    
Entity Incorporation, State or Country Code DE    
Entity Interactive Data Current Yes    
Document Annual Report true    
Auditor Name HASKELL & WHITE LLP    
Auditor Firm ID 200    
Auditor Location Irvine, California    
ICFR Auditor Attestation Flag false