Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue:
Total revenue	$ 4,162	$ 3,955	$ 12,223	$ 10,888
Cost of Revenue [Abstract]
Total cost of revenue	2,006	2,010	5,718	6,090
Gross profit	2,156	1,945	6,505	4,798
Operating expenses:
Research and development	13,232	11,564	41,854	33,167
Selling, general and administrative	14,769	15,447	45,882	43,917
Total operating expenses	28,001	27,011	87,736	77,084
Loss from operations	(25,845)	(25,066)	(81,231)	(72,286)
Other income (expense):
Interest income	4,767	1,285	13,044	2,105
Other expense	(10)	(199)	(291)	(260)
Total other income	4,757	1,086	12,753	1,845
Net loss	(21,088)	(23,980)	(68,478)	(70,441)
Other comprehensive loss:
Unrealized gain (loss) on available-for-sale securities	236	420	(45)	(2,157)
Comprehensive loss	$ (20,852)	$ (23,560)	$ (68,523)	$ (72,598)
Net loss per share attributable to common shareholders, basic (in usd per share)	$ (0.33)	$ (0.38)	$ (1.07)	$ (1.13)
Net loss per share attributable to common shareholders, diluted (in usd per share)	$ (0.33)	$ (0.38)	$ (1.07)	$ (1.13)
Weighted-average common shares outstanding, basic (in shares)	63,929,743	62,538,983	63,747,155	62,308,314
Weighted-average common shares outstanding, diluted (in shares)	63,929,743	62,538,983	63,747,155	62,308,314
Product | Nonrelated party
Revenue:
Total revenue	$ 1,849	$ 2,571	$ 5,837	$ 7,126
Cost of Revenue [Abstract]
Total cost of revenue	1,181	1,371	3,735	4,674
Product | Related party
Revenue:
Total revenue	1,429	1,316	4,093	3,494
Cost of Revenue [Abstract]
Total cost of revenue	396	618	1,226	1,366
Service | Nonrelated party
Revenue:
Total revenue	536	68	1,072	204
Cost of Revenue [Abstract]
Total cost of revenue	95	21	295	50
Grant and other | Nonrelated party
Revenue:
Total revenue	348	0	1,221	64
Cost of Revenue [Abstract]
Total cost of revenue	$ 334	$ 0	$ 462	$ 0