Stockholders' Equity (Deficit) - Narrative (Details) $ / shares in Units, $ in Thousands								1 Months Ended		2 Months Ended	3 Months Ended
	Jun. 02, 2022 USD ($) $ / shares shares	Jan. 10, 2022 $ / shares shares	Jan. 05, 2022 shares	Dec. 07, 2021 USD ($) $ / shares shares	Nov. 09, 2021 USD ($) $ / shares shares	Oct. 04, 2021 $ / shares shares	Aug. 13, 2021 USD ($) $ / shares shares	Oct. 31, 2021 USD ($) shares	Apr. 30, 2021 USD ($) shares	Feb. 28, 2022 shares	Jun. 30, 2022 USD ($) vote $ / shares shares	Jun. 30, 2021 USD ($) shares	Mar. 31, 2022 $ / shares shares	Feb. 10, 2022 $ / shares shares	Nov. 05, 2021 $ / shares shares	Mar. 31, 2021 shares	Oct. 31, 2017 USD ($)
Class of Stock [Line Items]
Common stock, shares issued (in shares)											56,588,042		53,379,307
Common stock, shares outstanding (in shares)											56,588,042		53,379,307
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
Number of shares sold in private placement offering (in shares)									97,099
Aggregate gross proceeds from closing of offering | $									$ 500
Term of advertising contract									1 year
Shares withheld to satisfy employee withholding tax obligations (in shares)										97,249
Preferred stock, shares outstanding (in shares)											0
Preferred stock, shares issued (in shares)											0
Placement agent fees and closing expenses | $											$ 280	$ 0
Number of votes, common stock (per share) | vote											1
Exercise price (in usd per share) | $ / shares		$ 3.30
Issuance of common stock for exercise of warrants (in shares)		82,500	13,028
Restricted Stock Units (RSUs) | The 2020 Equity Incentive Plan
Class of Stock [Line Items]
Equity awards outstanding under The 2020 Plan (in shares)											938,925
Private Placement
Class of Stock [Line Items]
Number of shares sold in private placement offering (in shares)				1,673,152	6,600,000		1,000,000
Aggregate gross proceeds from closing of offering | $				$ 12,900	$ 33,000		$ 5,000
Price per share (in dollars per share) | $ / shares				$ 7.71	$ 5.00		$ 5.00
Placement agent fees and closing expenses | $				$ 286	$ 840		$ 22
Number of common stock issuable from warrants (in shares)							209,000
Exercise price (in usd per share) | $ / shares							$ 6.00
Private Placement, Additional Shares Purchased
Class of Stock [Line Items]
Number of shares sold in private placement offering (in shares)	3,199,999
Aggregate gross proceeds from closing of offering | $	$ 16,000
Price per share (in dollars per share) | $ / shares	$ 5.00
Placement agent fees and closing expenses | $	$ 280
Number of common stock issuable from warrants (in shares)	666,668
Yaskawa
Class of Stock [Line Items]
Number of shares issued (in shares)						3,120,000
Exercise price (in usd per share) | $ / shares						$ 6.00
Yaskawa Note
Class of Stock [Line Items]
Unsecured subordinated convertible promissory note | $								$ 15,600									$ 15,000
Yaskawa Note | Yaskawa
Class of Stock [Line Items]
Number of shares issued (in shares)								3,120,000
Warrant | Private Placement
Class of Stock [Line Items]
Number of common stock issuable from warrants (in shares)	666,668			348,649	416,667	650,000	209,000							20,233	958,334
Common Stock
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)											56,588,042	40,662,020	53,379,307			40,531,996
Common Stock | Private Placement
Class of Stock [Line Items]
Exercise price (in usd per share) | $ / shares	$ 6.00			$ 9.25	$ 6.00	$ 6.00	$ 6.00							$ 8.48	$ 6.00
Preferred Stock
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)											5,000,000