Condensed Consolidated Statements of Cash Flows - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Net Cash Provided by (Used in) Operating Activities [Abstract]
Net loss	$ (19,027)	$ (13,168)
Adjustments to reconcile net loss to net cash used in operations:
Depreciation and amortization	2,524	483
Bargain purchase gain	(1,706)	0
Impairment of property and equipment	0	60
Inventory write-downs	29	0
Share-based compensation expense	2,949	3,734
Net accretion of premium on short-term investments	(396)	160
Change in:
Accounts receivable	(506)	0
Contract assets	(192)	0
Inventory	(87)	(35)
Other current and non-current assets	647	389
Accounts payable	1,629	(1,292)
Accrued liabilities	2,017	118
Contract liabilities and other current liabilities	(711)	(1,057)
Operating lease liabilities	(669)	(299)
Other long-term liabilities	17	0
Net cash used in operating activities	(13,482)	(10,907)
Cash flows from investing activities
Sales of investment securities	22,000	1,500
Purchases of investment securities	(3,898)	(16,696)
Cash paid for Ibeo business combination	(11,233)	0
Purchases of property and equipment	(615)	(884)
Net cash provided by (used in) investing activities	6,254	(16,080)
Cash flows from financing activities
Principal payments under finance leases	(6)	(8)
Principal payments under long-term debt	0	(294)
Proceeds from stock option exercises	0	253
Net proceeds from issuance of common stock	12,691	0
Net cash (used in) provided by financing activities	12,685	(49)
Change in cash, cash equivalents, and restricted cash	5,457	(27,036)
Cash, cash equivalents, and restricted cash at beginning of period	21,954	83,739
Cash, cash equivalents, and restricted cash at end of period	27,411	56,703
Supplemental schedule of non-cash investing and financing activities
Acquisition of right-of-use asset	234	0
Non-cash additions to property and equipment	703	177
Settlement of preexisting Advance to Ibeo in exchange for net assets acquired	4,132	0
Amounts issued to escrow for acquisition consideration	3,263	0
Amounts held back for acquisition consideration	2,928	0
Foreign currency translation adjustments	$ 107	$ 0