Selected Balance Sheet Components - Schedule of property and equipment, net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property and equipment, net:
Financing right-of-use lease	$ 37	$ 74
Total property and equipment, gross	34,139	27,630
Less accumulated depreciation	(18,302)	(14,322)
Total property and equipment, net	15,837	13,308
Machinery and equipment
Property and equipment, net:
Total property and equipment, gross	5,041	4,522
Furniture, fixtures and office equipment
Property and equipment, net:
Total property and equipment, gross	1,710	1,551
Computer equipment and software
Property and equipment, net:
Total property and equipment, gross	8,224	7,769
Leasehold improvements
Property and equipment, net:
Total property and equipment, gross	13,689	10,617
Construction in process
Property and equipment, net:
Total property and equipment, gross	$ 5,438	$ 3,097