Revenue - Narrative (Details) - USD ($)		1 Months Ended	3 Months Ended	12 Months Ended
	Jul. 16, 2021	Dec. 31, 2020	Mar. 31, 2022	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Revenue from related parties				$ 8,000,000	$ 12,100,000
Revenue from product and license fees				$ 16,511,000	24,050,000
Term of cooperation and development agreement		3 years		3 years
Cumulative effect of government rate change			$ 400,000
Yaskawa
Disaggregation of Revenue [Line Items]
Cooperative and development activities		$ 4,000,000
Revenue recognized for collaboration development activities				$ 1,200,000	1,500,000
Revenue for services rendered			$ 400,000	300,000	400,000
Service Revenue
Disaggregation of Revenue [Line Items]
Revenue from product and license fees				2,100,000	2,200,000
License and Service
Disaggregation of Revenue [Line Items]
Revenue from product and license fees	$ 8,000,000			$ 0	$ 8,000,000