Debts - Narrative (Details)				1 Months Ended				3 Months Ended				6 Months Ended		8 Months Ended	19 Months Ended
	Oct. 04, 2021 USD ($) $ / shares shares	Jul. 16, 2021 USD ($)	Feb. 12, 2020 shares $ / shares	Oct. 31, 2021 USD ($) shares	Jul. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Jun. 30, 2020 USD ($)	Sep. 30, 2022 USD ($)	Jun. 30, 2022 USD ($) segment	Sep. 30, 2021 USD ($)	Jun. 30, 2021 USD ($)	Sep. 30, 2022 USD ($)	Sep. 30, 2021 USD ($)	Jul. 31, 2021 USD ($)	Jun. 30, 2022 USD ($) segment	Jan. 10, 2022 $ / shares	Oct. 03, 2021 $ / shares	May 18, 2021 USD ($)	Mar. 31, 2021 USD ($)	Apr. 04, 2018 USD ($)	Oct. 31, 2017 USD ($)
Debt Instrument [Line Items]
Principal amount of development loans outstanding								$ 12,184,000				$ 12,184,000
Long-term loan facility																				$ 15,000,000
Conversion price per share on convertible note payable (in usd per share) | $ / shares			$ 5.12
Exercise price (in usd per share) | $ / shares																$ 3.30
Other income								375,000		$ 1,729,000		820,000	$ 1,999,000
Changes in fair value of promissory note								0		(1,629,000)		0	(605,000)
Interest expense								184,000		220,000		366,000	424,000
2020 Cooperation and Development Agreement
Debt Instrument [Line Items]
Term of cooperation and development agreement.						3 years
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								223,000	$ 172,000
Yaskawa
Debt Instrument [Line Items]
Number of collaborative agreement contracts | segment									2						2
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	375,000	$ 334,000
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
Debt Instrument [Line Items]
Conversion price per share on convertible note payable (in usd 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
Loan and Security Agreement (LSA)
Debt Instrument [Line Items]
Principal amount of development loans outstanding																			$ 10,000,000
Long-term loan facility																				15,000,000
Repayment of Nexperia debt							$ 5,000,000
Revolving loan																		$ 12,000,000	10,000,000	$ 10,000,000
Interest rate per annum (in percent)																				6.00%
Development Loans Due On June 30, 2021
Debt Instrument [Line Items]
Principal amount of development loans outstanding																			$ 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
Repayment of Nexperia debt		$ 8,000,000
Tranche B Loan
Debt Instrument [Line Items]
Long-term loan facility											$ 8,000,000
Tranche C Note
Debt Instrument [Line Items]
Long-term loan facility																				$ 12,000,000
Interest rate per annum (in percent)																				6.00%
Interest expense accrued								$ 184,000		184,000		$ 366,000	350,000
Yaskawa Note
Debt Instrument [Line Items]
Interest rate per annum (in percent)																					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										1,600,000			(605,000)
Interest expense										$ 36,000			$ 74,000
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