Summary of Significant Accounting Policies (Details)	1 Months Ended		3 Months Ended	12 Months Ended
	Dec. 31, 2020 USD ($)	Feb. 29, 2020 USD ($)	Sep. 30, 2020 USD ($)	Dec. 31, 2020 USD ($) segment shares	Dec. 31, 2019 USD ($) shares	Dec. 31, 2018 USD ($)
Cash and Cash Equivalents [Line Items]
Provision for doubtful accounts	$ 110,000			$ 110,000	$ 0
Goodwill impairment charges				0	0
Impairment of intangible assets				0	0
Revenue from product and license fees				11,371,000	11,934,000
Revenue recognized for collaboration development activities				333,000
Cumulative effect of government rate change			$ 505,000
Grant reimbursement				$ 426,000	$ 0
Number of anti-dilutive shares (in shares) | shares				3,285,058	26,422,608
Number of reportable segments | segment				1
Term of cooperation and development agreement.				3 years
Deferred revenue	674,000			$ 674,000	$ 0
Cash and cash equivalents	14,694,000			14,694,000	2,875,000
Yaskawa
Cash and Cash Equivalents [Line Items]
Revenue recognized for collaboration development activities				333,000
Letter of intent for development activities	4,000,000.0	$ 4,000,000.0
Proceeds from Collaborators	1,000,000.0
Deferred revenue	667,000			667,000
Other Assets
Cash and Cash Equivalents [Line Items]
Restricted Cash	$ 75,000			75,000	75,000
License and Service
Cash and Cash Equivalents [Line Items]
Revenue from product and license fees				$ 5,000,000.0	6,000,000.0	$ 3,000,000.0
Recognition of contractual income					$ 9,000,000.0
Stock options
Cash and Cash Equivalents [Line Items]
Number of anti-dilutive shares (in shares) | shares				2,320,318	2,473,198
Convertible Preferred Stock
Cash and Cash Equivalents [Line Items]
Number of anti-dilutive shares (in shares) | shares					23,933,949
Warrant
Cash and Cash Equivalents [Line Items]
Number of anti-dilutive shares (in shares) | shares				159,415	15,461
Restricted Stock Awards (RSA)
Cash and Cash Equivalents [Line Items]
Number of anti-dilutive shares (in shares) | shares				805,325
Minimum
Cash and Cash Equivalents [Line Items]
Property and equipment, estimated useful life				3 years
Intangible assets, estimated useful life				3 years
Award vesting period				1 year
Maximum
Cash and Cash Equivalents [Line Items]
Property and equipment, estimated useful life				7 years
Intangible assets, estimated useful life				10 years
Award vesting period				4 years
JAPAN
Cash and Cash Equivalents [Line Items]
Percentage of cash and cash equivalents in foreign subsidiary	0.30%			0.30%	1.90%
Revenue from product and license fees				$ 713,000	$ 28,000
Cash and cash equivalents	$ 42,000			42,000	55,000
UNITED STATES
Cash and Cash Equivalents [Line Items]
Revenue from product and license fees				$ 10,700,000	$ 11,900,000