Stockholders' Equity (Deficit) - Narrative (Details) $ / shares in Units, $ in Thousands								1 Months Ended
	Dec. 07, 2021 USD ($) $ / shares shares	Nov. 09, 2021 USD ($) $ / shares shares	Oct. 04, 2021 $ / shares shares	Aug. 13, 2021 USD ($) $ / shares shares	Mar. 31, 2021 USD ($) $ / shares shares	Dec. 23, 2020 USD ($) $ / shares shares	Feb. 12, 2020 $ / shares shares	Oct. 31, 2021 shares	Apr. 30, 2021 USD ($) shares	Feb. 27, 2020 USD ($) $ / shares shares	Jan. 10, 2022 $ / shares	Dec. 31, 2021 $ / shares shares	Nov. 08, 2021 segment $ / shares shares	Nov. 05, 2021 $ / shares shares	Sep. 30, 2021 $ / shares shares	Dec. 31, 2020 shares	Sep. 30, 2020 shares	Mar. 31, 2020 shares	Feb. 11, 2020 shares	Dec. 31, 2019 $ / shares shares
Class of Stock [Line Items]
Common stock, shares issued (in shares)					40,531,996		4,171,571					53,066,922							50,325,662
Common stock, shares outstanding (in shares)					40,531,996		4,171,571					53,066,922							50,325,662
Shares issued in connection with the Reverse Merger (in shares)							1,650,000
Total common and preferred stock authorized for issuance (in shares)																				755,000,000
Common stock, shares authorized (in shares)					750,000,000							750,000,000
Common stock, par value (in usd per share) | $ / shares					$ 0.0001							$ 0.0001								$ 0.0001
Par value per share (in usd per share) | $ / shares																				$ 0.0001
Preferred stock, shares issued (in shares)												0
Preferred stock, shares outstanding (in shares)												0
Yaskawa
Class of Stock [Line Items]
Number of shares converted from debt			3,120,000
Exercise price (in usd per share) | $ / shares			$ 6.00												$ 6.00
Yaskawa Note | Yaskawa
Class of Stock [Line Items]
Number of shares converted from debt								3,120,000
Common Stock
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)					40,531,996							53,066,922			41,664,020	40,278,496	35,266,496	35,135,520
Number of shares sold in private placement offering (in shares)									97,099
Price per share (in dollars per share) | $ / shares							$ 4.00
Aggregate gross proceeds from closing of offering | $									$ 500
Private Placement
Class of Stock [Line Items]
Placement agent fees and closing expenses | $	$ 286	$ 840		$ 22						$ 1,800
Private Placement | Common Stock
Class of Stock [Line Items]
Number of shares sold in private placement offering (in shares)	1,673,152	6,600,000		1,000,000	250,000	5,000,000				5,380,000
Price per share (in dollars per share) | $ / shares	$ 7.71	$ 5.00		$ 5.00	$ 4.00	$ 3.00				$ 4.00
Aggregate gross proceeds from closing of offering | $	$ 12,900	$ 33,000		$ 5,000	$ 1,000	$ 15,000				$ 21,500
Placement agent fees and closing expenses | $					$ 50	$ 1,400
Exercise price (in usd per share) | $ / shares	$ 9.25	$ 6.00	$ 6.00	$ 6.00		$ 3.30								$ 6.00
Private Placement | Warrant
Class of Stock [Line Items]
Placement agent fees and closing expenses | $						$ 223
Number of common stock issuable from warrants (in shares)	348,649	416,667	650,000	209,000		150,000								958,334
Second Investment Period | Common Stock
Class of Stock [Line Items]
Number of shares sold in private placement offering (in shares)		3,299,999
Price per share (in dollars per share) | $ / shares													$ 5.00
Number of common stock issuable from warrants (in shares)													687,501
Series 1 Preferred Stock
Class of Stock [Line Items]
Convertible preferred stock, shares issued (in shares)																			51,680,254
Convertible preferred stock, shares outstanding (in shares)																			51,680,254
Common stock, shares issued (in shares)							12,433,953
Common stock, shares outstanding (in shares)							12,433,953
Series 2 Preferred Stock
Class of Stock [Line Items]
Convertible preferred stock, shares issued (in shares)																			38,760,190
Convertible preferred stock, shares outstanding (in shares)																			38,760,190
Common stock, shares issued (in shares)							7,499,996
Common stock, shares outstanding (in shares)							7,499,996
Series 3 Preferred Stock
Class of Stock [Line Items]
Convertible preferred stock, shares issued (in shares)																			31,850,304
Convertible preferred stock, shares outstanding (in shares)																			31,850,304
Common stock, shares issued (in shares)							4,000,000
Common stock, shares outstanding (in shares)							4,000,000
Common Stock
Class of Stock [Line Items]
Shares redeemed (in shares)							52,733
Common stock, shares authorized (in shares)																				750,000,000
Common Stock | Subsequent Event
Class of Stock [Line Items]
Exercise price (in usd per share) | $ / shares											$ 3.30
Common Stock | Second Investment Period
Class of Stock [Line Items]
Required notice period of change in control (in days) | segment													10
Preferred Stock
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)												5,000,000								5,000,000