Related Party Transactions	3 Months Ended
Jun. 30, 2022
Related Party Transactions [Abstract]
Related Party Transactions	Related Party Transactions During the three months ended June 30, 2022, the Company entered into the following related party transactions: •Recorded $378 thousand in revenue, recorded $841 thousand in cost of goods sold for services, recorded $99 thousand in research and development expense, purchased $426 thousand of inventory, paid $142 thousand in consumption tax and incurred $46 thousand for employees and related benefits from the joint venture; •Recorded $547 thousand in revenue per a cooperation and development agreement with Yaskawa; and •Recorded $32 thousand in license fee income, recorded $38 thousand of reimbursements in license maintenance fee, recorded $182 thousand in interest expense, and sold $779 thousand of products to Nexperia. See Note 2 - Nexperia Arrangement. As of June 30, 2022, total due from related parties was $1.9 million, consisting of $372 thousand due from the joint venture, $750 thousand accounts receivable from a stockholder and $390 thousand accounts receivable from a stockholder and noteholder of the Company. As of June 30, 2022, total accounts payable to related parties was $1.5 million to the joint venture and $58 thousand to Nexperia. During the three months ended June 30, 2021, the Company entered into the following related party transactions: • Recorded $641 thousand in cost of goods sold for services, recorded $224 thousand in research and development expense and incurred $(16) thousand for employees and related benefits from the joint venture; • Sold $18 thousand of products to non-controlling stockholders of the Company and incurred $50 thousand of license maintenance fee from a non-controlling stockholder of the Company; • Recorded $334 thousand in revenue per a cooperation and development agreement with Yaskawa, and • Recorded $476 thousand in license fee income, recorded $38 thousand of reimbursements in license maintenance fee, recorded $166 thousand in interest expense, and sold $197 thousand of products to a stockholder and noteholder of the Company. See Note 2 - Nexperia Arrangement. As of March 31, 2022, total due from related parties was $1.2 million, consisting of $719 thousand due from the joint venture and $515 thousand accounts receivable from a stockholder and noteholder of the Company. As of March 31, 2022, total accounts payable to related parties was $760 thousand to the joint venture and $102 thousand to Nexperia.

Related Party Transactions

3 Months Ended

Jun. 30, 2022

During the three months ended June 30, 2022, the Company entered into the following related party transactions:

•Recorded $378 thousand in revenue, recorded $841 thousand in cost of goods sold for services, recorded $99 thousand in research and development expense, purchased $426 thousand of inventory, paid $142 thousand in consumption tax and incurred $46 thousand for employees and related benefits from the joint venture;

•Recorded $547 thousand in revenue per a cooperation and development agreement with Yaskawa; and

•Recorded $32 thousand in license fee income, recorded $38 thousand of reimbursements in license maintenance fee, recorded $182 thousand in interest expense, and sold $779 thousand of products to Nexperia. See Note 2 - Nexperia Arrangement.

As of June 30, 2022, total due from related parties was $1.9 million, consisting of $372 thousand due from the joint venture, $750 thousand accounts receivable from a stockholder and $390 thousand accounts receivable from a stockholder and noteholder of the Company. As of June 30, 2022, total accounts payable to related parties was $1.5 million to the joint venture and $58 thousand to Nexperia.

During the three months ended June 30, 2021, the Company entered into the following related party transactions:

• Recorded $641 thousand in cost of goods sold for services, recorded $224 thousand in research and development expense and incurred $(16) thousand for employees and related benefits from the joint venture;

• Sold $18 thousand of products to non-controlling stockholders of the Company and incurred $50 thousand of license maintenance fee from a non-controlling stockholder of the Company;

• Recorded $334 thousand in revenue per a cooperation and development agreement with Yaskawa, and

• Recorded $476 thousand in license fee income, recorded $38 thousand of reimbursements in license maintenance fee, recorded $166 thousand in interest expense, and sold $197 thousand of products to a stockholder and noteholder of the Company. See Note 2 - Nexperia Arrangement.

As of March 31, 2022, total due from related parties was $1.2 million, consisting of $719 thousand due from the joint venture and $515 thousand accounts receivable from a stockholder and noteholder of the Company. As of March 31, 2022, total accounts payable to related parties was $760 thousand to the joint venture and $102 thousand to Nexperia.