Selected Balance Sheet Components - Schedule of property and equipment, net (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Property and equipment, net:
Financing right-of-use lease	$ 28	$ 37
Total property and equipment, gross	37,399	34,139
Less accumulated depreciation	(19,202)	(18,302)
Total property and equipment, net	18,197	15,837
Machinery and equipment
Property and equipment, net:
Total property and equipment, gross	5,212	5,041
Furniture, fixtures and office equipment
Property and equipment, net:
Total property and equipment, gross	1,710	1,710
Computer equipment and software
Property and equipment, net:
Total property and equipment, gross	8,208	8,224
Leasehold improvements
Property and equipment, net:
Total property and equipment, gross	14,120	13,689
Construction in process
Property and equipment, net:
Total property and equipment, gross	$ 8,121	$ 5,438