Condensed Consolidated Statements of Operations and Comprehensive Loss (unaudited) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Revenue:
Total revenue	$ 2,827	$ 686	$ 3,199	$ 686
Operating expenses:
Research and development	19,450	16,165	37,181	29,063
Sales and marketing	1,739	1,900	3,592	3,402
General and administrative	5,845	6,797	11,132	14,586
Total operating expenses	27,034	24,862	51,905	47,051
Loss from operations	(24,207)	(24,176)	(48,706)	(46,365)
Other income (expenses), net:
Interest income, net	1,330	247	2,582	218
Gain (loss) on revaluation of common stock warrant liabilities	(115)	8,596	573	25,101
Other income (expense), net	63	(255)	721	(251)
Total other income (expenses), net	1,278	8,588	3,876	25,068
Net loss to common stockholders	(22,929)	(15,588)	(44,830)	(21,297)
Comprehensive loss to common stockholders	$ (22,929)	$ (15,588)	$ (44,830)	$ (21,297)
Net loss per share - basic (in USD per share)	$ (0.15)	$ (0.10)	$ (0.29)	$ (0.14)
Net loss per share - diluted (in USD per share)	$ (0.15)	$ (0.10)	$ (0.29)	$ (0.14)
Weighted average shares used in per share calculation, basic (in shares)	154,900,330	152,723,980	154,514,265	152,206,773
Weighted average shares used in per share calculation, diluted (in shares)	154,900,330	152,723,980	154,514,265	152,206,773
Nonrelated party
Revenue:
Total revenue	$ 2,826	$ 404	$ 3,197	$ 404
Related party
Revenue:
Total revenue	$ 1	$ 282	$ 2	$ 282