Debts - Narrative (Details)				1 Months Ended				3 Months Ended						8 Months Ended	9 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 ($)	Jun. 30, 2020 USD ($)	Dec. 31, 2022 USD ($)	Sep. 30, 2022 USD ($)	Jun. 30, 2022 USD ($) segment	Dec. 31, 2021 USD ($)	Sep. 30, 2021 USD ($)	Jun. 30, 2021 USD ($)	Jul. 31, 2021 USD ($)	Dec. 31, 2022 USD ($)	Dec. 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
Gain on Yaskawa promissory note conversion								421,000			$ 1,503,000				1,241,000	$ 3,502,000
Changes in fair value of promissory note								0			0				0	605,000
Interest expense								184,000			187,000				550,000	611,000
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								200,000	$ 200,000	$ 200,000
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					$ 800,000	$ 1,000,000								$ 1,800,000
Revenue recognized for collaboration development activities										$ 400,000		$ 400,000	$ 300,000
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%
Tranche B-1 Loan
Debt Instrument [Line Items]
Long-term loan facility																				$ 2,000,000
Repayment of Nexperia debt		$ 8,000,000
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 C Note
Debt Instrument [Line Items]
Long-term loan facility																						$ 12,000,000
Interest rate per annum (in percent)																						6.00%
Interest expense accrued								$ 200,000			200,000				$ 600,000	500,000
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																600,000
Interest expense											3,000					77,000
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
Gain on Yaskawa promissory note conversion	$ 1,200,000										$ 1,221,000					$ 1,221,000