Debts - Narrative (Details)				1 Months Ended				3 Months Ended		12 Months Ended	19 Months Ended
	Oct. 04, 2021 USD ($) $ / shares shares	Jul. 16, 2021 USD ($)	Feb. 12, 2020 shares $ / shares	Jun. 30, 2022 USD ($) segment	Oct. 31, 2021 USD ($) shares	Jul. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Jun. 30, 2022 USD ($) segment	Jun. 30, 2021 USD ($)	Mar. 31, 2022 USD ($)	Jun. 30, 2022 USD ($) segment	Jan. 10, 2022 $ / shares	May 19, 2021 USD ($)	May 18, 2021 USD ($)	Mar. 31, 2021 USD ($)	Mar. 01, 2021 USD ($)	Mar. 31, 2020 USD ($)	Apr. 04, 2018 USD ($)	Oct. 31, 2017 USD ($)
Debt Instrument [Line Items]
Principal amount of development loans outstanding				$ 12,182,000				$ 12,182,000			$ 12,182,000
Long-term loan facility																		$ 15,000,000
Conversion price per share on convertible note payable (in dollars per share) | $ / shares			$ 5.12
Exercise price (in usd per share) | $ / shares												$ 3.30
Other income								445,000	$ 270,000
Changes in fair value of promissory note								0	1,024,000
Interest expense								(182,000)	(204,000)
2022 Amended Cooperation And Development Agreement, Commitment One
Debt Instrument [Line Items]
Revenue recognized for collaboration development activities											$ 2,500,000
Twenty Twenty Two Amended Cooperation And Development Agreement, Commitment Two
Debt Instrument [Line Items]
Revenue recognized for collaboration development activities								$ 172,000
2020 Cooperation and Development Agreement
Debt Instrument [Line Items]
Term of cooperation and development agreement.							3 years
Yaskawa
Debt Instrument [Line Items]
Number of collaborative agreement contracts | segment				2				2			2
Yaskawa | 2022 Amended Cooperation And Development Agreement, Commitment One
Debt Instrument [Line Items]
Cooperative and development activities								$ 2,500,000
Yaskawa | Twenty Twenty Two Amended Cooperation And Development Agreement, Commitment Two
Debt Instrument [Line Items]
Cooperative and development activities								$ 1,500,000
Period of revenue recognition								19 months
Yaskawa | 2020 Cooperation and Development Agreement
Debt Instrument [Line Items]
Cooperative and development activities							$ 4,000,000
Proceeds from collaborators						$ 750,000	$ 1,000,000			$ 1,800,000
Revenue recognized for collaboration development activities								$ 375,000	334,000
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
Tranche B Loan
Debt Instrument [Line Items]
Long-term loan facility									8,000,000
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
Repayment of Nexperia debt		$ 8,000,000
Tranche C Note
Debt Instrument [Line Items]
Long-term loan facility																		$ 12,000,000
Interest rate per annum																		6.00%
Interest expense accrued								182,000	166,000
Yaskawa Note
Debt Instrument [Line Items]
Interest rate per annum																			1.00%
Unsecured subordinated convertible promissory note					$ 15,600,000														$ 15,000,000
Maximum number of shares of common stock issuable (in shares) | shares			3,076,171
Changes in fair value of promissory note									(1,000,000)
Interest expense									$ (38,000)
Yaskawa Note | Yaskawa
Debt Instrument [Line Items]
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
Loan and Security Agreement (LSA)
Debt Instrument [Line Items]
Principal amount of development loans outstanding													$ 8,000,000		$ 10,000,000
Revolving loan														$ 12,000,000		$ 10,000,000		$ 10,000,000
Long-term loan facility																		$ 15,000,000
Repayment of Nexperia debt				$ 5,000,000
Interest rate per annum																		6.00%