Debt (Details) $ / shares in Units, $ in Thousands, ¥ in Millions				12 Months Ended
	Nov. 07, 2022	Oct. 27, 2022 USD ($) businessDay	Jan. 04, 2022 USD ($) $ / shares shares	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Oct. 27, 2022 JPY (¥)
Short-Term Debt [Line Items]
Aggregate warrants to purchase of shares (in shares) | shares			96,998
Warrant liability			$ 1,300	$ 43	$ 440
Loss on extinguishment of debt				1,123	958
Secured Term Loan Agreement With Koito | Affiliated Entity
Short-Term Debt [Line Items]
Foreign currency transaction loss				800	4,300
Secured Debt | Secured Term Loan Agreement With Koito | Affiliated Entity
Short-Term Debt [Line Items]
Interest expense				300	800
Loss on extinguishment of debt				1,100
Secured Debt | Secured Term Loan Agreement With Koito | Secured Debt | Affiliated Entity
Short-Term Debt [Line Items]
Debt instrument, face amount		$ 39,400				¥ 5,800
Interest rate		1.00%				1.00%
Debt discount				$ 2,000
Trinity Loan Agreement
Short-Term Debt [Line Items]
Aggregate warrants to purchase of shares (in shares) | shares			96,998
Exercise price (in dollars per share) | $ / shares			$ 16.89
Warrant liability			$ 1,300
Trinity Loan Agreement | Loans Payable
Short-Term Debt [Line Items]
Debt instrument, face amount			$ 25,000
Interest rate			10.75%
Borrowings			$ 10,000
Debt discount			$ 300
Interest expense					2,000
Prepayment penalty	1.50%
End of term payment	2.50%
Loss on extinguishment of debt					$ 1,000
Trinity Loan Agreement | Prime Rate | Loans Payable
Short-Term Debt [Line Items]
Variable interest rate			7.00%
Secured Term Loan Agreement | Secured Debt | Affiliated Entity
Short-Term Debt [Line Items]
Loan maturity, after investment agreement close | businessDay		3