Summary of Significant Accounting Policies (Details)		1 Months Ended			3 Months Ended	12 Months Ended
	Jul. 16, 2021 USD ($)	Dec. 31, 2021 USD ($)	Jul. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Mar. 31, 2021 USD ($) shares	Mar. 31, 2022 USD ($) segment shares	Dec. 31, 2020 USD ($) shares
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Restricted cash						$ 575,000
Restricted cash in current asset					$ 0	500,000
Cash and cash equivalents included in other assets					9,500,000	33,435,000
Provision for doubtful accounts					(48,000)	0	$ 110,000
Recovery from doubtful accounts					48,000
Goodwill impairment charges					0	0	0
Impairment of intangible assets					0	0	0
Revenue from product and license fees					2,425,000	$ 24,050,000	11,371,000
Term of cooperation and development agreement.				3 years		3 years
Revenue for services rendered					505,000	$ 346,000
Cumulative effect of government rate change		$ 505,000			(83,000)	423,000
Grant reimbursement					$ 42,000	$ 345,000	$ 426,000
Number of anti-dilutive shares (in shares) | shares					3,637,937	6,491,081	3,285,058
Number of reportable segments | segment						1
Stock options
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Number of anti-dilutive shares (in shares) | shares					2,543,125	2,879,008	2,320,318
Restricted Stock Awards (RSA)
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Number of anti-dilutive shares (in shares) | shares					935,397	954,775	805,325
Warrant
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Number of anti-dilutive shares (in shares) | shares					159,415	2,657,298	159,415
Yaskawa
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Letter of intent for development activities				$ 4,000,000
Proceeds from collaborators			$ 750,000	$ 1,000,000		$ 1,800,000
Revenue recognized for collaboration development activities					$ 333,000	1,100,000	$ 333,000
Revenue for services rendered						375,000
License and Service
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue from product and license fees	$ 8,000,000				0	$ 8,000,000	5,000,000
Minimum
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Property and equipment, estimated useful life						3 years
Estimated useful life of intangible assets (in years)						3 years
Award vesting period						1 year
Maximum
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Property and equipment, estimated useful life						7 years
Estimated useful life of intangible assets (in years)						10 years
Award vesting period						4 years
Japan
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Cash and cash equivalents included in other assets					$ 444,000	$ 66,000
Percentage of cash and cash equivalents in foreign subsidiary					4.70%	0.20%
Revenue from product and license fees					$ 449,000	$ 698,000	713,000
U.S.
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue from product and license fees					$ 2,000,000	23,400,000	$ 10,700,000
Other Assets
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Restricted cash						$ 75,000