Consolidated Statements of Operations and Comprehensive Loss - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Revenue:
Total revenue	$ 16,661	$ 15,493
Cost of revenue:
Total cost of revenue	8,155	8,400
Gross profit	8,506	7,093
Operating expenses:
Research and development	53,019	45,797
Selling, general and administrative	58,950	58,531
Total operating expenses	111,969	104,328
Loss from operations	(103,463)	(97,235)
Other income (expense):
Interest income	17,764	4,602
Other expense	(578)	(333)
Total other income	17,186	4,269
Net loss	(86,277)	(92,966)
Other comprehensive gain (loss):
Unrealized gain (loss) on available-for-sale securities	1,059	(715)
Comprehensive loss	$ (85,218)	$ (93,681)
Net loss per share attributable to common shareholders, basic (in usd per share)	$ (1.35)	$ (1.49)
Net loss per share attributable to common shareholders, diluted (in usd per share)	$ (1.35)	$ (1.49)
Weighted-average common shares outstanding, basic	63,850,490	62,433,613
Weighted-average common shares outstanding, diluted	63,850,490	62,433,613
Nonrelated Party | Product
Revenue:
Total revenue	$ 8,506	$ 8,557
Cost of revenue:
Total cost of revenue	5,398	5,459
Nonrelated Party | Service
Revenue:
Total revenue	2,016	913
Cost of revenue:
Total cost of revenue	685	495
Nonrelated Party | Grant and other
Revenue:
Total revenue	1,479	808
Cost of revenue:
Total cost of revenue	642	457
Related Party | Product
Revenue:
Total revenue	4,660	5,215
Cost of revenue:
Total cost of revenue	$ 1,430	$ 1,989