Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Revenue:
Total revenue	$ 3,072	$ 4,008	$ 6,138	$ 8,061
Cost of revenue:
Total cost of revenue	1,341	1,727	3,046	3,712
Gross profit	1,731	2,281	3,092	4,349
Operating expenses:
Research and development	12,734	14,148	24,999	28,622
Selling, general and administrative	16,093	16,074	30,381	31,113
Total operating expenses	28,827	30,222	55,380	59,735
Loss from operations	(27,096)	(27,941)	(52,288)	(55,386)
Other income (expense):
Interest income	4,433	4,560	9,019	8,277
Other expense	(187)	(50)	(260)	(281)
Total other income	4,246	4,510	8,759	7,996
Net loss	(22,850)	(23,431)	(43,529)	(47,390)
Other comprehensive loss:
Unrealized loss on available-for-sale securities	(105)	(1,439)	(434)	(281)
Comprehensive loss	$ (22,955)	$ (24,870)	$ (43,963)	$ (47,671)
Net loss per share attributable to common shareholders, basic (in usd per share)	$ (0.35)	$ (0.37)	$ (0.67)	$ (0.74)
Net loss per share attributable to common shareholders, diluted (in usd per share)	$ (0.35)	$ (0.37)	$ (0.67)	$ (0.74)
Weighted-average common shares outstanding, basic	64,576,399	63,762,625	64,581,228	63,654,348
Weighted-average common shares outstanding, diluted	64,576,399	63,762,625	64,581,228	63,654,348
Nonrelated Party | Product
Revenue:
Total revenue	$ 1,761	$ 1,645	$ 3,429	$ 3,988
Cost of revenue:
Total cost of revenue	701	1,118	1,692	2,554
Nonrelated Party | Service
Revenue:
Total revenue	682	467	1,090	536
Cost of revenue:
Total cost of revenue	362	193	631	200
Nonrelated Party | Grant and other
Revenue:
Total revenue	46	538	82	873
Cost of revenue:
Total cost of revenue	122	64	255	128
Related Party | Product
Revenue:
Total revenue	583	1,358	1,537	2,664
Cost of revenue:
Total cost of revenue	$ 156	$ 352	$ 468	$ 830