Condensed Consolidated Statement of Shareholder's Equity - USD ($) shares in Thousands, $ in Thousands | Total | Pre Paid Advance Agreement | Securities Purchase Agreement | PIPE | Sale Of Shares Under The Wainwright ATM Program | Standby Equity Purchase Agreement | VDL Nedcar | Common stock | Common stock Pre Paid Advance Agreement | Common stock PIPE | Common stock Sale Of Shares Under The Wainwright ATM Program | Common stock Standby Equity Purchase Agreement | Common stock VDL Nedcar | Additional paid-in capital | Additional paid-in capital Pre Paid Advance Agreement | Additional paid-in capital Securities Purchase Agreement | Additional paid-in capital PIPE | Additional paid-in capital Sale Of Shares Under The Wainwright ATM Program | Additional paid-in capital Standby Equity Purchase Agreement | Additional paid-in capital VDL Nedcar | Accumulated deficit |
Balance at the beginning of the period (in shares) at Dec. 31, 2021 | | | | | | | | 238,578 | | | | | | | | | | | | | |
Balance as of beginning of period at Dec. 31, 2021 | $ 343,999 | | | | | | | $ 24 | | | | | | $ 1,036,104 | | | | | | | $ (692,129) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Repurchase of unvested shares - forfeitures (shares) | | | | | | | | (296) | | | | | | | | | | | | | |
Repurchase of unvested shares – forfeitures | (3) | | | | | | | | | | | | | (3) | | | | | | | |
Issuance of shares for restricted stock units vested (in shares) | | | | | | | | 584 | | | | | | | | | | | | | |
Issuance of shares for restricted stock units vested | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options (in shares) | | | | | | | | 20 | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares under the PPA , SPA, SEPA and PIPE (in shares) | | | | | | | | | | | | | 972 | | | | | | | | |
Issuance of shares under the PPA, SPA , ATM, SEPA and PIPE | | | | | | | $ 8,400 | | | | | | | | | | | | | $ 8,400 | |
Stock-based compensation | 20,680 | | | | | | | | | | | | | 20,680 | | | | | | | |
Net loss and comprehensive loss | (125,367) | | | | | | | | | | | | | | | | | | | | (125,367) |
Net loss and comprehensive loss | (125,367) | | | | | | | | | | | | | | | | | | | | (125,367) |
Balance at the end of the period (in shares) at Mar. 31, 2022 | | | | | | | | 239,858 | | | | | | | | | | | | | |
Balance as of end of period at Mar. 31, 2022 | 247,709 | | | | | | | $ 24 | | | | | | 1,065,181 | | | | | | | (817,496) |
Balance at the beginning of the period (in shares) at Dec. 31, 2021 | | | | | | | | 238,578 | | | | | | | | | | | | | |
Balance as of beginning of period at Dec. 31, 2021 | 343,999 | | | | | | | $ 24 | | | | | | 1,036,104 | | | | | | | (692,129) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Reclassification of warrant liability to additional paid-in capital | 0 | | | | | | | | | | | | | | | | | | | | |
Net loss and comprehensive loss | (289,757) | | | | | | | | | | | | | | | | | | | | |
Net loss and comprehensive loss | (289,757) | | | | | | | | | | | | | | | | | | | | |
Balance at the end of the period (in shares) at Jun. 30, 2022 | | | | | | | | 268,896 | | | | | | | | | | | | | |
Balance as of end of period at Jun. 30, 2022 | 188,345 | | | | | | | $ 26 | | | | | | 1,170,207 | | | | | | | (981,888) |
Balance at the beginning of the period (in shares) at Mar. 31, 2022 | | | | | | | | 239,858 | | | | | | | | | | | | | |
Balance as of beginning of period at Mar. 31, 2022 | 247,709 | | | | | | | $ 24 | | | | | | 1,065,181 | | | | | | | (817,496) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Repurchase of unvested shares - forfeitures (shares) | | | | | | | | (175) | | | | | | | | | | | | | |
Repurchase of unvested shares – forfeitures | (3) | | | | | | | | | | | | | (3) | | | | | | | |
Issuance of shares for restricted stock units vested (in shares) | | | | | | | | 1,017 | | | | | | | | | | | | | |
Issuance of shares for restricted stock units vested | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options (in shares) | | | | | | | | 7 | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options | 0 | | | | | | | | | | | | | | | | | | | | 0 |
Issuance of shares under employee stock purchase plan (in shares) | | | | | | | | 254 | | | | | | | | | | | | | |
Issuance of shares under employee stock purchase plan | 1,175 | | | | | | | | | | | | | 1,175 | | | | | | | |
Issuance of shares under the PPA , SPA, SEPA and PIPE (in shares) | | | | | | | | | | 13,699 | | 14,236 | | | | | | | | | |
Issuance of shares under the PPA, SPA , ATM, SEPA and PIPE | | | | $ 50,000 | | $ 33,083 | | | | $ 1 | | $ 1 | | | | | $ 49,999 | | $ 33,082 | | |
Stock-based compensation | 20,773 | | | | | | | | | | | | | 20,773 | | | | | | | |
Net loss and comprehensive loss | (164,392) | | | | | | | | | | | | | | | | | | | | (164,392) |
Net loss and comprehensive loss | (164,392) | | | | | | | | | | | | | | | | | | | | (164,392) |
Balance at the end of the period (in shares) at Jun. 30, 2022 | | | | | | | | 268,896 | | | | | | | | | | | | | |
Balance as of end of period at Jun. 30, 2022 | $ 188,345 | | | | | | | $ 26 | | | | | | 1,170,207 | | | | | | | (981,888) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Common stock, shares issued (in shares) | 355,388 | | | | | | | | | | | | | | | | | | | | |
Balance at the beginning of the period (in shares) at Dec. 31, 2022 | 355,388 | | | | | | | 355,388 | | | | | | | | | | | | | |
Balance as of beginning of period at Dec. 31, 2022 | $ 236,573 | | | | | | | $ 35 | | | | | | 1,416,361 | | | | | | | (1,179,823) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Repurchase of unvested shares - forfeitures (shares) | | | | | | | | (22) | | | | | | | | | | | | | |
Repurchase of unvested shares – forfeitures | 0 | | | | | | | | | | | | | 0 | | | | | | | |
Issuance of shares for restricted stock units vested (in shares) | | | | | | | | 2,768 | | | | | | | | | | | | | |
Issuance of shares for restricted stock units vested | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options (in shares) | | | | | | | | 2 | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares under employee stock purchase plan (in shares) | | | | | | | | 701 | | | | | | | | | | | | | |
Issuance of shares under employee stock purchase plan | 389 | | | | | | | | | | | | | 389 | | | | | | | |
Vesting of early exercised stock options and restricted stock awards | 26 | | | | | | | | | | | | | 26 | | | | | | | |
Issuance of shares under the PPA , SPA, SEPA and PIPE (in shares) | | | | | | | | 50,000 | 66,761 | | | | | | | | | | | | |
Issuance of shares under the PPA, SPA , ATM, SEPA and PIPE | 10,161 | $ 64,389 | $ 1,600 | | | | | $ 5 | $ 7 | | | | | 10,156 | $ 64,382 | $ 1,600 | | | | | |
Reclassification of warrant liability to additional paid-in capital | 19,510 | | | | | | | | | | | | | 19,510 | | | | | | | |
Stock-based compensation | 9,836 | | | | | | | | | | | | | 9,836 | | | | | | | |
Net loss and comprehensive loss | (90,732) | | | | | | | | | | | | | | | | | | | | (90,732) |
Net loss and comprehensive loss | (90,732) | | | | | | | | | | | | | | | | | | | | (90,732) |
Balance at the end of the period (in shares) at Mar. 31, 2023 | | | | | | | | 475,598 | | | | | | | | | | | | | |
Balance as of end of period at Mar. 31, 2023 | $ 251,752 | | | | | | | $ 47 | | | | | | 1,522,260 | | | | | | | (1,270,555) |
Balance at the beginning of the period (in shares) at Dec. 31, 2022 | 355,388 | | | | | | | 355,388 | | | | | | | | | | | | | |
Balance as of beginning of period at Dec. 31, 2022 | $ 236,573 | | | | | | | $ 35 | | | | | | 1,416,361 | | | | | | | (1,179,823) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares under the PPA, SPA , ATM, SEPA and PIPE | | | $ 1,600 | | | | | | | | | | | | | | | | | | |
Reclassification of warrant liability to additional paid-in capital | 19,510 | | | | | | | | | | | | | | | | | | | | |
Net loss and comprehensive loss | (161,602) | | | | | | | | | | | | | | | | | | | | |
Net loss and comprehensive loss | $ (161,602) | | | | | | | | | | | | | | | | | | | | |
Balance at the end of the period (in shares) at Jun. 30, 2023 | 568,904 | | | | | | | 568,904 | | | | | | | | | | | | | |
Balance as of end of period at Jun. 30, 2023 | $ 232,745 | | | | | | | $ 56 | | | | | | 1,574,114 | | | | | | | (1,341,425) |
Balance at the beginning of the period (in shares) at Mar. 31, 2023 | | | | | | | | 475,598 | | | | | | | | | | | | | |
Balance as of beginning of period at Mar. 31, 2023 | 251,752 | | | | | | | $ 47 | | | | | | 1,522,260 | | | | | | | (1,270,555) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Repurchase of unvested shares - forfeitures (shares) | | | | | | | | (27) | | | | | | | | | | | | | |
Repurchase of unvested shares – forfeitures | 0 | | | | | | | | | | | | | 0 | | | | | | | |
Issuance of shares for restricted stock units vested (in shares) | | | | | | | | 2,028 | | | | | | | | | | | | | |
Issuance of shares for restricted stock units vested | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options (in shares) | | | | | | | | 2 | | | | | | | | | | | | | |
Issuance of shares upon exercise of vested stock options | 0 | | | | | | | | | | | | | | | | | | | | |
Issuance of shares under employee stock purchase plan (in shares) | | | | | | | | 604 | | | | | | | | | | | | | |
Issuance of shares under employee stock purchase plan | 246 | | | | | | | | | | | | | 246 | | | | | | | |
Vesting of early exercised stock options and restricted stock awards | 2 | | | | | | | | | | | | | 2 | | | | | | | |
Issuance of shares under the PPA , SPA, SEPA and PIPE (in shares) | | | | | | | | | | 16,331 | 1,911 | | | | | | | | | | |
Issuance of shares under the PPA, SPA , ATM, SEPA and PIPE | | | | $ 1,753 | $ 1,155 | | | | | $ 2 | | | | | | | $ 1,751 | $ 1,155 | | | |
Stock-based compensation | 6,707 | | | | | | | | | | | | | 6,707 | | | | | | | |
Net loss and comprehensive loss | (70,870) | | | | | | | | | | | | | | | | | | | | (70,870) |
Net loss and comprehensive loss | (70,870) | | | | | | | | | | | | | | | | | | | | (70,870) |
Proceeds from exercise of YA warrants (in shares) | | | | | | | | 34,231 | | | | | | | | | | | | | |
Proceeds from exercise of YA warrants | 21,223 | | | | | | | $ 3 | | | | | | 21,220 | | | | | | | |
Issuance of shares under YA convertible debenture (in shares) | | | | | | | | 35,699 | | | | | | | | | | | | | |
Issuance of shares under YA convertible debenture | 19,021 | | | | | | | $ 4 | | | | | | 19,017 | | | | | | | |
Issuance of shares under I-40 financing arrangement (in shares) | | | | | | | | 2,320 | | | | | | | | | | | | | |
Issuance of shares under I-40 financing arrangement | 1,506 | | | | | | | | | | | | | 1,506 | | | | | | | |
Issuance of shares to vendor for services (in shares) | | | | | | | | 207 | | | | | | | | | | | | | |
Issuance of shares to vendor for services | $ 250 | | | | | | | | | | | | | 250 | | | | | | | |
Balance at the end of the period (in shares) at Jun. 30, 2023 | 568,904 | | | | | | | 568,904 | | | | | | | | | | | | | |
Balance as of end of period at Jun. 30, 2023 | $ 232,745 | | | | | | | $ 56 | | | | | | $ 1,574,114 | | | | | | | $ (1,341,425) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | | | | | | |
Common stock, shares issued (in shares) | 568,904 | | | | | | | | | | | | | | | | | | | | |