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UNAUDITED CONDENSED CONSOLIDATED STATEMENTS OF OPERATIONS AND COMPREHENSIVE LOSS - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Revenues    
Technology development revenue $ 898 $ 1,269
Total revenues 898 1,269
Operating expenses    
Research and development 12,236 12,657
Selling, general and administrative 8,744 9,593
Depreciation and amortization 3,416 3,504
Total operating expenses 24,396 25,754
Operating loss (23,498) (24,485)
Other income (expense)    
Interest expense (176) (321)
Other income, net 1,711 1,458
Total other income, net 1,535 1,137
Loss before income taxes (21,963) (23,348)
Income tax expense (12) (7)
Net loss $ (21,975) $ (23,355)
Net loss per share: basic (in usd per share) $ (0.22) $ (0.26)
Net loss per share: diluted (in usd per share) $ (0.22) $ (0.26)
Weighted-average common shares outstanding: basic (in shares) 99,393,333 91,479,452
Weighted-average common shares outstanding: diluted (in shares) 99,393,333 91,479,452
Comprehensive loss:    
Net loss $ (21,975) $ (23,355)
Foreign currency translation adjustments (47) (14)
Unrealized (loss) gain on investments (48) 39
Comprehensive loss $ (22,070) $ (23,330)
Revenue from Contract with Customer, Product and Service [Extensible Enumeration] License and Service [Member] License and Service [Member]