Debts - Narrative (Details)					1 Months Ended			3 Months Ended		12 Months Ended
	Oct. 04, 2021 USD ($) $ / shares shares	Jul. 16, 2021 USD ($)	Jun. 29, 2020 USD ($)	Feb. 12, 2020 shares $ / shares	Oct. 31, 2021 USD ($) shares	Jul. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Mar. 31, 2022 USD ($)	Mar. 31, 2021 USD ($)	Mar. 31, 2022 USD ($)	Dec. 31, 2020 USD ($)	Jan. 10, 2022 $ / shares	Jun. 30, 2021 USD ($)	May 18, 2021 USD ($)	May 17, 2021 USD ($)	Mar. 01, 2021 USD ($)	Dec. 31, 2019 USD ($)	Jul. 31, 2019 USD ($)	Mar. 31, 2019 USD ($)	Apr. 04, 2018 USD ($)	Oct. 31, 2017 USD ($)
Debt Instrument [Line Items]
Principal amount of term loans outstanding								$ 12,180,000		$ 12,180,000
Interest expense									$ (187,000)	(792,000)	$ (760,000)
Changes in fair value of promissory note									699,000	(605,000)	(927,000)
Conversion price per share on convertible note payable (in dollars per share) | $ / shares	$ 5.00			$ 5.12
Exercise price (in usd per share) | $ / shares												$ 3.30
Other income									314,000	$ 3,819,000	2,157,000
Term of cooperation and development agreement.							3 years			3 years
Revenue for services rendered								346,000	505,000	$ 346,000
Yaskawa
Debt Instrument [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		375,000
Yaskawa
Debt Instrument [Line Items]
Conversion price per share on convertible note payable (in dollars per share) | $ / shares	$ 5.00			$ 5.12
Number of shares issued (in shares) | shares	3,120,000
Warrant to purchase shares issued, number of shares	$ 650,000
Exercise price (in usd per share) | $ / shares	$ 6.00
Exercisable period of warrants (in years)	3 years
Accounts Payable and Accrued Liabilities
Debt Instrument [Line Items]
Interest expense									(153,000)	(685,000)	(915,000)
Loan and Security Agreement (LSA)
Debt Instrument [Line Items]
Long-term loan facility																				$ 15,000,000
Principal amount of term loans outstanding							10,000,000	$ 0	10,000,000	0	10,000,000
Tranche A Loan
Debt Instrument [Line Items]
Long-term loan facility																				5,000,000
Repayment of Nexperia debt			$ 5,000,000
Tranche B Loan
Debt Instrument [Line Items]
Long-term loan facility													$ 8,000,000			$ 8,000,000		$ 8,000,000	$ 8,000,000	10,000,000
Repayment of Nexperia debt		$ 8,000,000
Tranche B-1 Loan
Debt Instrument [Line Items]
Long-term loan facility														$ 2,000,000	$ 2,000,000	2,000,000	$ 2,000,000		$ 2,000,000
Repayment of Nexperia debt		$ 8,000,000
Tranche C Note
Debt Instrument [Line Items]
Long-term loan facility																				12,000,000
Revolving loan																$ 10,000,000				$ 10,000,000
Interest rate per annum																				6.00%
Interest expense accrued									150,000	$ 715,000	610,000
Yaskawa Note
Debt Instrument [Line Items]
Interest rate per annum								1.00%		1.00%											1.00%
Interest expense									(37,000)	$ (77,000)	(150,000)
Changes in fair value of promissory note									(699,000)	605,000	(927,000)
Unsecured subordinated convertible promissory note					$ 15,600,000			$ 0	15,523,000	0											$ 15,000,000
Maximum number of shares of common stock issuable (in shares) | shares				3,076,171
Accrued interest on promissory note							$ 486,000	0	523,000	0	486,000
Yaskawa Note | Yaskawa
Debt Instrument [Line Items]
Interest expense accrued									$ 37,000	77,000	$ 150,000
Principal and unpaid interest of convertible note	$ 15,600,000
Number of shares issued (in shares) | shares					3,120,000
Other income								$ 1,200,000		$ 1,200,000
Accrued interest on promissory note	$ 600,000