Berkshire Grey (BGRY) POS AM 5 Apr 22 Prospectus update (post-effective amendment) Financial data

Cover Page

Cover Page	12 Months Ended
	Dec. 31, 2021
Document Information [Line Items]
Entity Registrant Name	Berkshire Grey, Inc.
Document Type	POS AM
Amendment Flag	false
Entity Central Index Key	0001824734
Entity Filer Category	Non-accelerated Filer
Entity Small Business	true
Entity Emerging Growth Company	true
Entity Ex Transition Period	false

Condensed Balance Sheets

Condensed Balance Sheets - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Current assets:
Cash and cash equivalents	$ 171,089	$ 93,857
Accounts receivable	13,291	16,752
Inventories, net	2,641	758
Deferred fulfillment costs (see Note 8 for related party transactions)	7,689	3,461
Prepaid expenses	5,138	804
Other current assets	5,078	132
Total current assets	204,926	115,764
Property and equipment – net	10,874	9,403
Restricted cash	862	1,121
Other non-current assets	22	101
Total assets	216,684	126,389
Current liabilities:
Accounts payable	6,766	1,681
Accrued expenses	15,659	7,771
Contract liabilities (see Note 8 for related party transactions)	19,216	22,331
Other current liabilities	146	182
Total current liabilities	41,787	31,965
Share-based compensation liability	15,435	3,047
Warrant liability	13,277	0
Other non-current liabilities	1,954	2,057
Total liabilities	72,453	37,069
Commitments and contingencies (Note 15)
Mezzanine equity:
Redeemable convertible preferred stock – $0.0001 par value; 188,353,093 shares authorized and nil shares issued, and outstanding as of December 31, 2021; and 188,353,093 shares authorized, 165,744,062 shares issued and outstanding as of December 31, 2020; aggregate liquidation preference of $239,447 as of December 31, 2020 (Note 9)	0	223,442
Stockholders' equity (deficit):
Common stock – Class A shares, $0.0001 par value; 385,000,000 and 261,657,617 shares authorized, 225,428,187 and 28,292,106 shares issued, and 225,428,187 and 21,288,845 outstanding as of December 31, 2021 and December 31, 2020, respectively; Class C shares, par value $0.0001, 5,750,000 and nil shares issued and outstanding as of December 31 2021 and December 30, 2020, respectively	24	3
Additional paid-in capital	449,307	17,578
Accumulated deficit	(305,084)	(151,704)
Accumulated other comprehensive (loss) income	(16)	1
Total stockholders' equity (deficit)	144,231	(134,122)
Total liabilities, mezzanine equity, and stockholders' equity (deficit)	$ 216,684	$ 126,389

Condensed Balance Sheets (Paren

Condensed Balance Sheets (Parentheticals) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Preferred stock, shares authorized		188,353,093
Preferred stock, shares issued		165,744,062
Liquidation preference		$ 239,447
Common stock, par value (in Dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized	385,000,000	261,657,617
Common stock, shares issued	225,428,187	28,292,106
Common stock, shares outstanding	225,428,187	21,288,845
Redeemable Convertible Preferred Stock
Preferred stock, par value (in Dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, shares authorized	188,353,093	188,353,093
Preferred stock, shares issued	0	165,744,062
Preferred stock, shares outstanding	0	165,744,062
Liquidation preference		$ 239,447
Common Class C [Member]
Common stock, par value (in Dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized	5,750,000	5,750,000
Common stock, shares issued	0	0
Common stock, shares outstanding	0	0

Consolidated Statements of Oper

Consolidated Statements of Operations and Comprehensive Loss - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Revenue (see Note 8 for related party transactions)	$ 50,852	$ 34,835
Cost of revenue (see Note 8 for related party transactions)	59,099	32,009
Gross (loss) profit	(8,247)	2,826
Operating expenses:
General and administrative expense	40,313	15,935
Sales and marketing expense	51,960	12,910
Research and development expense	63,819	35,806
Total operating expenses	156,092	64,651
Loss from operations	(164,339)	(61,825)
Other income (expense)
Interest income	32	280
Change in fair value of warrant liabilities	11,061	0
Other (expense) income	(76)	3,907
Net loss before income taxes	(153,322)	(57,638)
Income tax	58	5
Net loss	(153,380)	(57,643)
Other comprehensive (loss) income:
Net foreign currency translation adjustments	(17)	1
Total comprehensive loss	$ (153,397)	$ (57,642)
Weighted average shares outstanding – basic and diluted	115,301,526	20,885,580
Common Class A and C [Member]
Other comprehensive (loss) income:
Net loss per common share (Class A and C) – basic and diluted	$ (1.33)	$ (2.76)

Consolidated Statements of Mezz

Consolidated Statements of Mezzanine Equity and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Mezzanine Equity [Member]	Class A Common Stock [Member]	Class C Common Stock [Member]	Previously Reported [Member]	Previously Reported [Member]Mezzanine Equity [Member]	Mezzanine Equity Previously Reported [Member]Mezzanine Equity [Member]	Retroactive Application Of Recapitalization [Member]	Retroactive Application Of Recapitalization [Member]Mezzanine Equity [Member]	Common Stock [Member]Class A Common Stock [Member]	Common Stock [Member]Class C Common Stock [Member]	Common Stock [Member]Previously Reported [Member]Class A Common Stock [Member]	Common Stock [Member]Previously Reported [Member]Class C Common Stock [Member]	Common Stock [Member]Retroactive Application Of Recapitalization [Member]Class A Common Stock [Member]	Common Stock [Member]Retroactive Application Of Recapitalization [Member]Class C Common Stock [Member]	Additional Paid-in Capital [Member]	Additional Paid-in Capital [Member]Previously Reported [Member]	Additional Paid-in Capital [Member]Retroactive Application Of Recapitalization [Member]	Accumulated Deficit [Member]	Accumulated Deficit [Member]Previously Reported [Member]	Accumulated Deficit [Member]Retroactive Application Of Recapitalization [Member]	Accumulated Other Comprehensive Income (Loss) [Member]	Accumulated Other Comprehensive Income (Loss) [Member]Previously Reported [Member]	Accumulated Other Comprehensive Income (Loss) [Member]Retroactive Application Of Recapitalization [Member]
Mezzanine equity at Dec. 31, 2019						$ 223,442			$ 223,442
Mezzanine equity (in Shares) at Dec. 31, 2019						28,207,674	137,536,388		165,744,062
Balance at Dec. 31, 2019					$ (80,030)			$ (80,030)				$ 3	$ 0	$ 3	$ 0		$ 14,028	$ 14,028		$ (94,061)	$ (94,061)		$ 0	$ 0
Balance (in Shares) at Dec. 31, 2019										17,170,194		3,521,477	0	20,691,671	0
Proceeds from exercise of stock options	$ 226															$ 226
Proceeds from exercise of stock options (in Shares)										597,174
Stock-based compensation	3,324															3,324
Other comprehensive income	1																					$ 1
Net loss	(57,643)		$ (57,642)																$ (57,643)
Mezzanine equity at Dec. 31, 2020	223,442	$ 223,442
Mezzanine equity (in Shares) at Dec. 31, 2020		165,744,062
Balance at Dec. 31, 2020	(134,122)									$ 3	$ 0					17,578			(151,704)			1
Balance (in Shares) at Dec. 31, 2020										21,288,845	0
Issuance of common shares upon merger	192,088									$ 2						2,752
Issuance of common shares upon merger (in Shares)										15,312,113	5,750,000
Issuance of common stock via PIPE	165,000									$ 1						164,999
Issuance of common stock via PIPE (in Shares)										16,500,000
Mezzanine equity conversion	223,442	$ (223,442)								$ 16						223,426
Mezzanine equity conversion (in Shares)		(165,744,062)								165,744,062
Proceeds from exercise of stock options	3,105									$ 2						3,103
Proceeds from exercise of stock options (in Shares)										6,583,167
Reclassification of restricted stock to equity	12,001															12,001
Stock-based compensation	25,448															25,448
Other comprehensive income	(17)																					(17)
Net loss	(153,380)		$ (149,960)	$ (3,437)															(153,380)
Mezzanine equity at Dec. 31, 2021	0	$ 0
Mezzanine equity (in Shares) at Dec. 31, 2021		0
Balance at Dec. 31, 2021	$ 144,231									$ 24	$ 0					$ 449,307			$ (305,084)			$ (16)
Balance (in Shares) at Dec. 31, 2021										225,428,187	5,750,000

Consolidated Statements of Cash

Consolidated Statements of Cash Flow - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
CASH FLOWS FROM OPERATING ACTIVITIES
Net loss	$ (153,380)	$ (57,643)
Adjustments to reconcile net loss to net cash used in operating activities
Depreciation and amortization	2,745	1,006
Loss on disposal of fixed assets	18
Gain on change in fair value of warrants	(11,061)	(3,922)
Gain on foreign currency transactions	73	5
Stock-based compensation	49,843	6,021
Change in operating assets and liabilities
Accounts receivable	3,461	(16,187)
Inventories	(1,883)	(355)
Deferred fulfillment costs	(4,228)	17,505
Prepaid expenses and other assets	(9,201)	8
Accounts payable	4,952	442
Accrued expenses	7,856	3,425
Contract liabilities	(3,115)	(8,306)
Other liabilities	(138)	2,027
Net cash used in operating activities	(114,058)	(55,974)
CASH FLOWS FROM INVESTING ACTIVITIES
Capital expenditures	(4,069)	(8,718)
Net cash used in investing activities	(4,069)	(8,718)
CASH FLOWS FROM FINANCING ACTIVITIES
Proceeds from exercise of stock options	3,103	226
Proceeds from issuance of common stock upon Merger, net of issuance costs paid	192,088
Net cash provided by financing activities	195,191	226
Effect of exchange rate on cash	(91)	(4)
Net increase (decrease) in cash, cash equivalents, and restricted cash	76,973	(64,470)
Cash, cash equivalents, and restricted cash at beginning of period	94,978	159,448
Cash, cash equivalents, and restricted cash at end of period	171,951	94,978
NON-CASH INVESTING AND FINANCING ACTIVITIES
Assumption of merger warrants liability	24,338
Conversion of redeemable convertible preferred stock to common stock	(223,442)
Settlement of promissory note through repurchase of shares	10,238
Purchase of property and equipment included in accounts payable and accrued expenses	165
RECONCILIATION OF CASH AND RESTRICTED CASH WITHIN THE CONSOLIDATED BALANCE SHEETS TO THE AMOUNTS SHOWN IN THE CONSOLIDATED STATEMENTS OF CASH FLOWS ABOVE
Cash (inclusive of money market funds and cash equivalents of $162,164 and $92,858 at December 31, 2021 and 2020, respectively)	171,089	93,857
Restricted cash	862	1,121
Total cash, cash equivalents, and restricted cash	$ 171,951	$ 94,978

Consolidated Statements of Ca_2

Consolidated Statements of Cash Flow (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Statement of Cash Flows [Abstract]
Market funds and cash equivalents	$ 162,164	$ 92,858

Nature of the Business and Basi

Nature of the Business and Basis of Presentation	12 Months Ended
	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Nature of the Business and Basis of Presentation	1. NATURE OF THE BUSINESS AND BASIS OF PRESENTATION Nature of Business Berkshire Grey, Inc. (“Berkshire Grey,” “we,” “us,” “our,” or the “Company”) is an Intelligent Enterprise Robotics (“IER”) company pioneering and delivering transformative AI-enabled robotic picking robotic movement and mobility system orchestration On July, 21, 2021, (the “Closing Date”) the Company consummated the transactions contemplated by the Agreement and Plan of Merger (the “Merger Agreement”), dated February 23, 2021, by and among Berkshire Grey Operating Company, Inc. (f/k/a Berkshire Grey, Inc.) (“Legacy Berkshire Grey”), the Company, (f/k/a Revolution Acceleration Acquisition Corp. (“RAAC”)), and Pickup Merger Corp, a Delaware corporation and a direct, wholly owned subsidiary of RAAC (“Merger Sub”). On the Closing Date, pursuant to the terms of the Merger Agreement, a business combination (the “Business Combination”) between RAAC and Legacy Berkshire Grey was affected through the merger of Merger Sub with and into Legacy Berkshire Grey, with Legacy Berkshire Grey surviving the merger as a wholly owned subsidiary of RAAC (the “Merger”). RAAC amended and restated its second amended and restated certificate of incorporation and its bylaws such that RAAC changed its name to “Berkshire Grey, Inc.”. Unless the context otherwise requires, references to “Legacy Berkshire Grey” refer to Berkshire Grey, Inc. (currently known as Berkshire Grey Operating Company, Inc.), a Delaware corporation, prior to the effective time of the Merger Agreement. The transaction is accounted for as a reverse recapitalization with Legacy Berkshire Grey, Inc. being the accounting acquirer and RAAC as the acquired company for accounting purposes. Accordingly, all historical financial information presented in the consolidated financial statements represent the accounts of Legacy Berkshire Grey and its wholly owned subsidiaries. The shares and net loss per common share prior to the Merger have been retroactively restated as shares reflecting the exchange ratio established in the Merger (each outstanding share of Legacy Berkshire Grey, Inc. Class A common stock and Legacy Berkshire Grey preferred stock was exchanged for 5.87585 shares (the “Exchange Ratio”) of the Company’s Class A common stock). Prior to the Merger, RAAC’s units, public shares, and public warrants were listed on The NASDAQ Stock Market LLC (“NASDAQ”) under the symbols “RAACU,” “RAAC,” and “RAACW,” respectively. On July 22, 2021, the Company’s Class A common stock and public warrants began trading on the Nasdaq, under the symbols “BGRY” and “BGRYW,” respectively. See Note 3, “ Merger Basis of Presentation Our consolidated financial statements are prepared in accordance with accounting principles generally accepted in the United States (“GAAP”). All significant intercompany accounts and transactions have been eliminated in consolidation. For the Company’s subsidiaries that transact in a functional currency other than the U.S. dollar, assets and liabilities are translated into U.S. dollars at period-end Liquidity The Company incurred net losses and negative cash flows from operations since inception and relied upon financing activities to fund operations. The Company has raised approximately $227.3 million, net of issuance costs, from the issuance of preferred stock and warrants, as described in Note 9, “ Convertible Preferred Stock Merger

Significant Accounting Policies

Significant Accounting Policies	12 Months Ended
	Dec. 31, 2021
Accounting Policies [Abstract]
Significant Accounting Policies	2. SIGNIFICANT ACCOUNTING POLICIES Use of Estimates The preparation of consolidated financial statements in conformity with GAAP requires management to make estimates and assumptions which affect the reported amounts of assets and liabilities and disclosure of contingent assets and liabilities at the date of the financial statements and the reported amounts of revenue and expenses during the reporting period. These estimates and judgments include, but are not limited to, revenue recognition (including performance obligations, provisions for contract losses, variable consideration and other obligations such as product returns), realizability of deferred fulfillment costs, inventory, warranty cost, accounting for stock-based compensation (including performance-based assessments), and accounting for income taxes and related valuation allowances. Actual results may differ from estimates. Cash Equivalents and Restricted Cash The Company considers all highly liquid investments with an original maturity of three months or less to be cash equivalents. The Company’s cash equivalents consist of money market funds. Restricted cash represents cash on deposit with a financial institution as collateral for the Company’s corporate credit cards and an irrevocable standby letter of credit as security for the Company’s obligations under the lease for its headquarters in Massachusetts. The Company has included restricted cash as a non-current Revenue Recognition On January 1, 2018, the Company adopted ASC 606 using the modified retrospective method. See Note 7, “ Revenue Concentration of Credit Risk and Significant Customers Financial instruments which potentially expose the Company to concentrations of credit risk consist of accounts receivable and cash and cash equivalents. At December 31, 2021 and 2020, two customers and three customers accounted for approximately 100% of the Company’s accounts receivable balance, respectively. For the year ended December 31, 2021, the Company generated approximately 32%, 27%, 14% and 12% of revenues from four significant customers. For the year ended December 31, 2020, the Company generated approximately 70% and 30% of revenues from two these The Company places cash and cash equivalents with high-quality financial institutions. The Company is exposed to credit risk in the event of default by these institutions to the extent the amount recorded on the consolidated balance sheets exceeds federally insured limits. Warrant Liabilities The Company classifies Private Placement Warrants and Public Warrants (both defined and discussed in Note 16, “ Common Stock and Warrants paid-in Fair Value Measurements The Company’s fair value measurements are estimated pursuant to a fair value hierarchy that requires us to maximize the use of observable inputs and minimize the use of unobservable inputs. The valuation hierarchy is based upon the transparency of inputs to the valuation of an asset or liability as of the measurement date, giving highest priority to quoted prices in active markets (Level 1) and the lowest priority to unobservable data (Level 3). In some cases, the inputs used to measure fair value might fall in different levels of the fair value hierarchy. The lowest level input that is significant to a fair value measurement in its entirety determines the applicable level in the fair value hierarchy. Assessing the significance of a particular input to the fair value measurement in its entirety requires judgment, considering factors specific to the asset or liability, and may affect the valuation of the assets and liabilities and their placement within the hierarchy level. The three levels of inputs that may be used to measure fair value are defined as: Level 1 — Quoted prices for identical assets and liabilities traded in active exchange markets. Level 2 — Observable inputs other than Level 1 that are directly or indirectly observable for the asset or liability, including quoted prices for similar assets or liabilities in active markets, quoted prices for identical or similar assets or liabilities inactive markets, or other observable inputs that can be corroborated by observable market data. Level 3 — Unobservable inputs supported by little or no market activity for financial instruments whose value is determined using pricing models, discounted cash flow methodologies, or similar techniques, as well as instruments for which the determination of fair value requires significant management judgment or estimation. Accounts Receivable The Company evaluates the collectability of outstanding receivables and provides an allowance for receivables when collection becomes doubtful. Provisions are made based upon a specific review of all significant outstanding invoices and the overall quality and age of those invoices not specifically reviewed. The Company’s receivables amounted to approximately $13.3 million and $16.8 million as of December 31, 2021 and 2020, respectively. The Company believes that credit risks associated with these contracts are not significant. To date, the Company has not experienced any losses associated with accounts receivable and does not maintain an allowance for doubtful accounts. Inventories Inventories are stated at the lower of cost or net realizable value, with cost determined by use of the average cost method. The Company maintains an inventory reserve for the estimated amount of excess or obsolete inventory. Contract Assets and Contract Liabilities Contract assets represent the sale of goods or services to a customer before the Company has the right to obtain consideration from the customer. Contract assets consist of unbilled amounts at the reporting date and are transferred to accounts receivable when the rights become unconditional. Contract liabilities represent an obligation to transfer goods or services to a customer for which the Company received advanced consideration. Contract liabilities will be recognized as revenue when the contracted deliverables are provided to our customers. See Note 7 for additional information.​​​​​​​ Deferred Fulfillment Costs The Company incurs costs to fulfill obligations under a contract once it is obtained, but before transferring goods or services to the customer. The Company capitalizes deferred fulfillment costs if they are directly related to a specific customer contract, generate or enhance assets used to satisfy the customer contract performance obligations in the future, and are recoverable. The Company’s deferred fulfillment costs include direct labor related to manufacturing, installation, software services, and direct materials. Property and Equipment Property and equipment, including significant betterments to existing facilities, are recorded at cost, less accumulated depreciation. Upon retirement or disposal, the cost and accumulated depreciation are removed from the accounts and any gain or loss is included in income. The Company reviews property and equipment for impairment upon a triggering event. If a review indicates that an impairment occurred, the Company writes down the carrying value of the assets to their fair value. Fair value is determined based on comparable market values, when available, or discounted cash flows. The Company concluded there were no triggering events for the years ended December 31, 2021 and 2020. Depreciation and Amortization Depreciation is recorded using the straight-line method over the shorter of the useful life or lease term, when applicable. The Company generally uses estimated useful lives of three years for machinery, furniture, equipment, and software. For leasehold improvements the Company records depreciation over the remaining lease term. Deferred Rent and Rental Expense Minimum rent expense is recorded using the straight-line method over the related lease term. The differences between payments required and rental expense are reflected as current and non-current Stock-Based Compensation Expense The Company issues stock-based awards to employees and nonemployees, generally in the form of stock options and restricted stock units (“RSUs”). Stock-based awards are accounted for in accordance with ASC Topic 718, Compensation — Stock Compensation The Company issued restricted stock to an executive officer which was purchased with proceeds from a partial recourse promissory note. As the underlying restricted stock was not allocated to the recourse and non-recourse non-recourse Related Party Transactions The Company classifies stock-based compensation expense in its consolidated statements of operations and comprehensive loss in the same way the payroll costs or service payments are classified for the related stock-based award recipient. Our stock-based awards are subject to service or performance-based vesting conditions. Compensation expense related to awards with service-based vesting conditions is recognized on a straight-line basis based on the grant date fair value over the associated service period of the award, which is generally the vesting term. Compensation expense related to awards with pre-established The fair value of stock-based awards were estimated using the Black-Scholes option pricing model or a lattice model, which requires the input of highly subjective assumptions, including (i) the expected volatility of our stock, (ii) the expected term of the award, (iii) the risk-free interest rate, and (iv) expected dividends. Due to the lack of a public market for the trading of our common stock prior to the Merger and a lack of company-specific historical and implied volatility, estimates of expected volatility are based on the historical volatility of a group of similar companies that are publicly traded. Expected life of our stock options are estimated using the “simplified” method, whereby, the expected life equals the average of the vesting term and the original contractual term of the option. The risk-free interest rates for periods within the expected life of the option were based on the U.S. Treasury yield curve in effect during the period the options were granted. The fair value of RSUs are determined based on the closing quoted price of the Company’s common stock on the date of the grant. See Note 10, “ Stock-Based Compensation Research and Development Costs incurred in the research and development of the Company’s products are expensed as incurred. Warranty The Company accrues an estimate warranty expense based on expected warranty claims and costs to be incurred. Product warranty reserves are recorded in accrued expenses. Income Taxes Income taxes are recorded in accordance with ASC Topic 740, Income Taxes The Company accounts for uncertain tax positions in accordance with the provisions of ASC 740. When uncertain tax positions exist, the Company recognizes the tax benefit of tax positions to the extent that the benefit will more likely than not be realized. The determination as to whether the tax benefit will more likely than not be realized is based upon the technical merits of the tax position as well as consideration of the available facts and circumstances. As of December 31, 2021 and 2020, the Company did not have any significant uncertain tax positions. The Company’s practice is to recognize interest and/or penalties related to income tax matters in income tax expense. See Note 12, “ Income Taxes Net Loss Per Common Share As a result of the Merger, the Company has retroactively restated the weighted average shares outstanding prior to July 21, 2021, to give effect to the Exchange Ratio. Basic earnings per share is computed by dividing the loss available to common shareholders (numerator) by the weighted average number of shares of Class A common stock and Class C common stock outstanding (denominator) during the period. Diluted earnings per share is calculated using the Company’s weighted-average outstanding common shares including the dilutive effect of stock awards as determined under the treasury stock method and warrants using the if-converted Net Loss Per Share Attributable to Common Shareholders Recent Accounting Pronouncements In February 2016, the Financial Accounting Standards Board (“FASB”) issued ASU 2016-02, 2016-02 right-of-use 8 10 9 11 right-use In June 2016, the FASB issued ASU 2016-13, In December 2019, the FASB issued ASU 2019-12,

Merger

Merger	12 Months Ended
	Dec. 31, 2021
Business Combinations [Abstract]
Merger	3. MERGER On Closing Date, Berkshire Grey, Inc. received gross proceeds of $220.0 million, which included $55.0 million in proceeds from issuance of common stock upon the Merger and $165.0 million in proceeds from the PIPE Investment (as defined below). The Company recorded $27.9 million of transaction costs, which consisted of legal, accounting, and other professional services directly related to the Merger. These costs were included in additional paid-in Legacy Berkshire Grey preferred stock, par value $0.001 per share, and each share of Legacy Berkshire Grey common stock, par value $0.001 per share, was converted into the right to receive 5.87585 shares of the Company’s Class A common stock, par value $0.0001 per share. Subject to the terms and conditions of the Merger Agreement, the consideration paid in respect of each share of Legacy Berkshire Grey preferred and common stock issued and outstanding (other than (i) any such shares held in the treasury of the Company and (ii) any shares held by stockholders of the Company who had perfected and not withdrawn a demand for appraisal rights) immediately prior to the effective time of the Merger was the number of shares of newly issued Class A common stock of RAAC (with each share valued at $10.00), par value $0.0001 per share (“Class A Stock”), equal to (x) $2.25 billion divided by (y) the number of shares of Aggregate Fully Diluted Company Stock (as defined in the Merger Agreement).​​​​​​​ At the Closing, all equity awards of Legacy Berkshire Grey were assumed by the Company and converted into comparable equity awards that are settled or exercisable for shares of the Company’s Class A common stock. As a result, each outstanding stock option was converted into an option to purchase shares of the Company’s Class A common stock based on an exchange ratio of 5.87585. Each public and private warrant of RAAC that was unexercised at the time of the Merger was assumed by the Company and represents the right to purchase one share of the Company’s Class A common stock upon exercise of such warrant. Legacy Berkshire Grey was determined to be the accounting acquirer because Legacy Berkshire Grey shareholders prior to the Merger had the greatest voting interest in the combined entity, Legacy Berkshire Grey shareholders appointed the initial directors of the Company’s board upon the closing of the Merger and control future appointments, Legacy Berkshire Grey comprises all of the Company’s ongoing operations, and Legacy Berkshire Grey’s senior management directs operations of the combined entity. Accordingly, all historical financial information presented in these consolidated financial statements represents the accounts of Legacy Berkshire Grey. Subscription Agreements Concurrent with the execution of the Merger Agreement, RAAC entered into subscription agreements with certain investors (the “PIPE Investors”), pursuant to which the PIPE Investors committed to purchase an aggregate amount of $165.0 million in shares of Class A Stock at a purchase price of $10.00 per share (the “PIPE Investment”). The PIPE Investment was consummated concurrent with the closing of the Merger.

Inventories

Inventories	12 Months Ended
	Dec. 31, 2021
Inventory Disclosure [Abstract]
Inventories	4. INVENTORIES Inventories consist of the following: Years Ended December 31, 2021 2020 (in thousands) Work in progress $ 538 $ 3 Finished goods 2,103 755 Inventory, net $ 2,641 $ 758

Property and Equipment

Property and Equipment	12 Months Ended
	Dec. 31, 2021
Property, Plant and Equipment [Abstract]
Property and Equipment	5. PROPERTY AND EQUIPMENT Property and equipment consist of the following: December 31, 2021 2020 (in thousands) Leasehold improvements $ 6,512 $ 5,907 Machinery and equipment 922 15 Furniture and fixtures 983 714 Research and development equipment 4,712 2,794 Computer hardware and software 1,708 1,219 Construction in progress 382 437 Subtotal 15,219 11,086 Less: Accumulated depreciation 4,345 1,683 Property and equipment, net $ 10,874 $ 9,403 Depreciation expense for the years ended December 31, 2021 and 2020 was approximately $2.7 million and $1.0 million, respectively.

Accrued Expenses

Accrued Expenses	12 Months Ended
	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued Expenses	6. ACCRUED EXPENSES Accrued expenses consist of the following: December 31, 2021 2020 (in thousands) Accrued compensation $ 8,562 $ 5,424 Accrued sales taxes payable 372 879 Accrued professional services 1,742 754 Accrued materials 3,094 401 Accrued other 1,437 272 Accrued warranty 452 41 Accrued expenses $ 15,659 $ 7,771 Accrued Compensation Accrued compensation included estimated year-end Accrued Warranty The Company provides a limited warranty generally for one year. Estimated warranty obligations are recorded as an expense upon customer acceptance of related products. Factors that affect the estimated warranty liability include number of products accepted, historical and anticipated rates of warranty claims, cost per claim, and vendor-supported warranty programs. The Company periodically assesses the adequacy of our recorded warranty liabilities and adjusts the amounts as necessary. The amount of liability recorded is equal to the estimated costs to repair or otherwise satisfy claims made by customers. Changes in our product warranty consist of the following: December 31, 2021 2020 (in thousands) Beginning balance $ 41 $ 317 Accrual (reversal) for warranty expense (58 ) (136 ) Warranty costs incurred during period 469 (140 ) Ending balance $ 452 $ 41

Revenue

Revenue	12 Months Ended
	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Revenue	7. REVENUE The Company primarily derives its revenue from selling robotic fulfillment and material handling systems, which consist of a network of automated machinery installed at the customer location and configured to meet specified performance requirements, such as accuracy, throughput, and up-time. The Company’s contracts typically have multiple performance obligations that may include system delivery, installation, testing, and training. Judgment is required to determine whether performance obligations specified in these contracts are distinct and should be accounted for as separate revenue transactions for recognition purposes. The Company also provides assurance-based warranties that are not considered a distinct performance obligation. The Company allocates the total transaction price to each performance obligation in an amount based on the estimated relative standalone selling prices of the promised goods or services underlying each performance obligation. The Company generally uses a cost-plus margin approach to determine the stand-alone selling price for separate performance obligations. Each customer contract is evaluated individually to determine the appropriate pattern of revenue recognition. Contracts that are recognized over time meet the criteria that the Company is creating or enhancing an asset that the customer controls. The system is delivered to the customer and control is transferred, after which point the Company performs installation and implementation services to fully integrate the system at the customer’s location. As such, revenue recognition begins upon delivery, continues throughout the installation and implementation period, and concludes upon customer acceptance. Revenue from customer contracts is generally expected to be recognized over a period of three to six months. There historically have been, and potentially will be in the future, customer contracts that contain obligations and timelines that result in revenue being recognized over extended periods, which may include periods greater than 12 months. The Company typically uses total estimated labor hours as the input to measure progress as labor hours represent work performed, which corresponds with, and thereby depicts, the transfer of control to the customer. Installation and training services are evaluated together with the delivery of robotic fulfillment or material handling systems as a singular performance obligation. Provisions for losses on uncompleted contracts are made in the period in which such losses are determined to be probable and the amount can be reasonably estimated. The loss is computed on the basis of the total estimated costs to complete the contract, including the contract costs incurred to date plus the estimated cost to complete. As of December 31, 2021, it was estimated that the gross loss on current contracts would be $12.1 million, which is included in cost of revenue. The Company recorded $8.5 million as a provision for the remaining losses on contracts which is included within contract liabilities. The Company determined that the revenue of one of its robotic fulfillment system contracts should be recognized at a point in time as the contract did not meet any of the three criteria to recognize revenue over time as defined in ASC 606-10-25-27 Other performance obligations recognized at a point in time include the sale and delivery of spare parts and pilot agreements. Pilot agreements are typically short-term contracts designed to demonstrate the Company’s technology and ability to serve the customer. Due to the exploratory nature of pilot agreements, revenue is recognized at a point in time once the evaluation activities are complete. Other performance obligations recognized over time include, but are not limited to, maintenance, extended support, and research services, which are recognized ratably on a straight-line-basis as the Company assumes an even distribution of performance over the service period. Shipping and handling activities that occur after control of a product has transferred to the customer are accounted for as fulfillment activities rather than performance obligations, as allowed under a practical expedient provided by ASC 606. Shipping and handling fees charged to customers are recognized as revenue and the related costs are included in cost of revenue at the point in time when ownership of the product is transferred to the customer. Incremental costs of obtaining a contract with a customer and other costs to fulfill a contract are required to be capitalized unless the Company elects to expense contract costs with periods less than a year. The Company has elected to expense these costs of obtaining a contract as incurred when the related contract period is less than one year. The Company does not pay upfront sales commissions on contracts when the related contract period is greater than one year, thus has not capitalized any amounts as of December 31, 2021. The following table disaggregates revenue by timing of transfer of goods or services: Years Ended December 31, 2021 2020 (in thousands) Transferred over time $ 49,610 $ 10,045 Transferred at a point in time 1,242 24,790 Total Revenue $ 50,852 $ 34,835 Payment terms offered to customers are defined in contracts and do not include a significant financing component. Payment milestones typically exist throughout the course of a contract and generally occur upon signing of an agreement, delivery of a system, start and completion of installation and testing, and upon acceptance of the system. The nature of the Company’s contracts may give rise to variable consideration, typically related to fees charged for shipping and handling. The Company generally estimates such variable consideration at the most likely amount. In addition, the Company includes the estimated variable consideration in the transaction price to the extent that it is probable that a significant reversal in the amount of cumulative revenue recognized will not occur when the related uncertainty is resolved. Provisions for contract losses are recorded as liabilities when it becomes evident that a liability has occurred and the amount of the loss is reasonably estimable. These estimates are based on historical experience and the Company’s best judgment at the time. To the extent there is certainty in estimating these amounts, they are included in the transaction price of the Company’s contracts and the associated remaining performance obligations. Contract losses are reported as cost of revenue during the period in which the loss becomes evident. The Company does not disclose the value of unsatisfied performance obligations for contracts with an original expected duration of one year or less. Contracts may be modified to account for changes in contract specifications and requirements. Contract modifications exist when the modification either creates new or changes the existing enforceable rights and obligations. Most of the Company’s contract modifications are for goods or services that are not distinct from the existing contract due to the significant integration service provided in the context of the contract and are accounted for as if they were part of that existing contract. The effects of a contract modification on the transaction price, and the measure of progress for the performance obligation to which it relates, are recognized as an adjustment to revenue on a cumulative catch-up Deferred Fulfillment Costs and Contract Balances As of December 31, 2021 and 2020, the Company incurred $7.7 million and $3.5 million of net deferred fulfillment costs, respectively. Changes in the contract liability balance during the year ended December 31, 2021, were due to the Company receiving additional advanced cash payments from customer contracts and the Company recognizing revenue as performance obligations were met. The following table summarizes changes in contract liabilities during the year ended December 31, 2021:​​​​​​​ Contract (in thousands) Contract liabilities at December 31, 2020 $ 22,331 Additions to contract liabilities during the period 35,760 Provision for contract losses 8,465 Revenue recognized in the period from: Amounts included in contract liabilities at the beginning of the period (21,957 ) Amounts added to contract liabilities during the period (25,383 ) Contract liabilities at December 31, 2021 $ 19,216 Contract assets were $4.3 million as of December 31, 2021 and are included in other current assets within the consolidated balance sheets. There were no significant contract asset balances as of December 31, 2020.

Related Party Transactions

Related Party Transactions	12 Months Ended
	Dec. 31, 2021
Related Party Transactions [Abstract]
Related Party Transactions	8. RELATED PARTY TRANSACTIONS In June 2019, the Company entered into two customer contracts with an affiliate of one of its primary investors. Related to these contracts, as of December 31, 2021 and December 31, 2020, the Company recorded less than $0.1 million and $1.4 million in net deferred fulfillment costs, respectively, and less than $0.1 million and $4.6 million in contract liabilities, respectively. For the years ended December 31, 2021 and 2020, the Company recognized approximately $5.1 million and $9.8 million in revenue and approximately $2.1 million and $4.3 million in cost of revenue related to these customer contracts, respectively. In October 2019, the Company issued a Partial Recourse Secured Promissory Note (the “Promissory Note”) to an executive officer for approximately $9.9 million with an interest rate of 1.86% per annum compounded annually. Under the terms of the Promissory Note, the officer was be personally liable for 51% of the unpaid balance of the principal and any accrued interest. The entire principal amount was used to purchase 7,003,261 shares (as converted for the effect of the Merger) of restricted stock. The Promissory Note was collateralized by the restricted common stock. The Company determined that the entire Promissory Note must be treated as non-recourse; Stock-Based Compensation On February 23, 2021, the Company entered into an agreement with the executive officer, in which the Company’s Board of Directors authorized the repurchase of a sufficient number of vested shares of common stock from the executive officer, at an aggregate price sufficient to repay the Promissory Note (the “Stock Repurchase Agreement”). At the Closing Date on July 21, 2021, all outstanding principal and accrued interest under the Promissory Note was repaid and the note was retired.

Convertible Preferred Stock And

Convertible Preferred Stock And Stockholders' Equity	12 Months Ended
	Dec. 31, 2021
Temporary Equity Disclosure [Abstract]
Convertible Preferred Stock And Stockholders' Equity	9. CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS’ EQUITY Preferred Stock The Company has cumulatively raised $227.3 million, net of issuance costs, in venture financing through the sale and issuance of Preferred Stock and warrants as of December 31, 2020. The following table summarizes details of Convertible Preferred Stock authorized, issued and outstanding, and liquidation preference:​​​​​​​ December 31, 2020 Convertible preferred stock Authorized Shares issued and Liquidation (in thousands) Series A 12,999,666 12,999,666 $ 500 Series A-1 14,124,639 14,124,639 2,500 Series A-2 24,197,491 24,197,491 11,098 Series A-3 4,612,871 4,612,871 1,058 Series A-4 4,173,740 4,173,740 1,531 Series B 31,644,237 31,644,237 24,100 Series B-1 16,477,658 16,477,658 24,110 Series B-2 68,937,247 57,513,760 174,550 Series B-3 11,185,544 — — 188,353,093 165,744,062 $ 239,447 Immediately prior to the closing of the Merger, all outstanding shares of each series of Legacy Berkshire Grey preferred stock were converted into shares of Legacy Berkshire Grey common stock. Warrants to purchase preferred stock (Series B-3)

Stock-Based Compensation

Stock-Based Compensation	12 Months Ended
	Dec. 31, 2021
Share-based Payment Arrangement [Abstract]
Stock-Based Compensation	10. STOCK-BASED COMPENSATION In 2013, the Company adopted the Berkshire Grey, Inc. 2013 Stock Option and Stock Purchase Plan (the “2013 Plan”) under which the Company may grant incentive stock options, nonqualified stock options, restricted stock, unrestricted stock, restricted stock units, performance awards, or other awards that are convertible into or based on company stock. The maximum number of shares that may be issued under the Plan was 58,863,225 (as converted for the effect of the Merger) shares as of December 31, 2021 and December 31, 2020. On July 20, 2021, at a special general meeting of the shareholders of RAAC, the 2021 Stock Option and Incentive Plan for Berkshire Grey, Inc. (the “2021 Plan”) was approved reserving an initial limit of 19,887,747 of the Company’s Class A common stock for issuance under the 2021 Plan. All equity awards of Legacy Berkshire Grey that were issued under the 2013 Plan were converted into comparable equity awards that are settled or exercisable for shares of the Company’s Class A common stock. Each stock option granted under the 2013 Plan was converted into an option to purchase the Company’s Class A common stock based on an exchange ratio of 5.87585. Following effective date of the 2021 Plan, no additional awards shall be issued under the 2013 Plan. Stock-based compensation expense recognized for all stock-based awards is reported in the Company’s consolidated statements of operations and comprehensive loss as follows: Years Ended December 31, 2021 2020 (in thousands) Cost of sales $ 557 $ 137 General and administrative 19,353 3,245 Sales and marketing 27,278 1,583 Research and development 2,655 1,056 Total $ 49,843 $ 6,021 Stock Options The Company issued grants of 2,270,858 and 17,377,292 stock options during the years ended December 31, 2021 and 2020, respectively. The following table summarizes stock option activity under the 2013 Plan and 2021 Plan since December 31, 2020: Options Weighted- Exercise Price Weighted- Remaining Contractual Term (years) Outstanding at December 31, 2020 35,001,146 $ 0.80 7.8 Granted 2,270,858 7.70 — Exercised (6,574,818 ) 0.48 — Cancelled (21,090 ) 1.11 — Forfeited (1,240,777 ) 0.80 — Outstanding at December 31, 2021 29,435,319 $ 1.40 7.5 Exercisable at December 31, 2021 15,202,295 $ 0.71 6.5 Vested or expected to vest at December 31, 2021 29,435,319 $ 1.40 7.5 In determining the estimated fair value of the stock option awards, the Company uses the Black-Scholes option pricing model. The fair value of share option awards was estimated with the following assumptions: As of December 31, 2021 2020 Expected volatility 32% - 34% 55.0% Risk-free interest rate .99% - 1.20% .55% - .68% Expected term (in years) 6.1 6.1 Expected dividend rate 0% 0% As of December 31, 2021, 3,231,432 of the options outstanding are subject to performance-based vesting criteria described below. The total intrinsic value of options exercised in the year December 31, 2021, was approximately $44.2 million. The Company recognized approximately $22.0 million and $3.3 million in stock-based compensation expense related to stock options during the years ended December 31, 2021 and 2020, respectively. As of December 31, 2021, there was approximately $21.5 million of total unrecognized compensation cost related to non-vested Restricted Stock Sold Through Issuance of Promissory Note In conjunction with a Partial Recourse Related Party Transactions non-recourse non-recourse On February 23, 2021, the Company entered into a Stock Repurchase Agreement with the aforementioned executive officer. In the Stock Repurchase Agreement, the Company’s Board of Directors authorized the repurchase of 1,023,825 vested shares of common stock from the executive officer which will repay, in full, all the outstanding principal and accrued interest under the Promissory Note. At the Closing Date, all outstanding principal and accrued interest under the Promissory Note was repaid and the note was retired. The RSA Agreement contains a Repurchase Option, which causes the shares to be classified as a liability. The Repurchase Option expires six months after the shares’ respective vesting date, at which point the shares will be reclassified as equity at the fair value on such date and no further compensation cost is recognized. A portion of the awards are subject to performance-based vesting conditions based primarily on financial performance of the Company and a portion are only subject to time and service-based vesting conditions over a four-year period. The Company will remeasure the fair value of the award using the exchange traded price of Class A common stock at each reporting period until settlement. The Company recognizes compensation cost over the requisite service period with an offsetting credit to a share-based liability. The underlying shares of Restricted Stock are not considered outstanding until the vesting conditions have been achieved. As of December 31, 2021, 3,063,991 shares of Restricted Stock have vested, and none were forfeited. The Company recognized approximately $24.4 million and $2.7 million in stock-based compensation expense related to the Restricted Stock during the years ended December 31, 2021 and 2020, respectively. The expense is presented in the Company’s consolidated statements of operations and comprehensive loss as sales and marketing expense and general and administrative expense, respectively. As of December 31, 2021, there was approximately $15.1 million of total unrecognized compensation cost related to the Restricted Stock. Restricted Stock Units (“RSUs”) Under the 2021 Plan, RSUs may be granted to employees, non-employees, one The following table summarizes the RSU activity under the equity incentive plan: RSUs RSU Weighted- Date Fair Value Per Share Balance as of December 30, 2020 Granted 5,041,197 $ 6.33 Vested (37,043 ) 7.61 Forfeited (79,911 ) 7.61 Outstanding at December 31, 2021 4,924,243 $ 6.30 Expected to vest at December 31, 2021 4,924,243 $ 6.30 The Company recognized approximately $3.5 million in stock-based compensation expense related to RSUs during the year ended December 31, 2021. The Company did not recognize any stock-based compensation expense related to RSUs during the year ended December 31, 2020. As of December 31, 2021, there was approximately $27.9 million of total unrecognized compensation cost related to non-vested

Fair Value of Financial Instrum

Fair Value of Financial Instruments	12 Months Ended
	Dec. 31, 2021
Fair Value Disclosures [Abstract]
Fair Value of Financial Instruments	11. FAIR VALUE OF FINANCIAL INSTRUMENTS Recurring Fair Value Measurements The following table summarizes information about the Company’s financial assets and liabilities measured at fair value on a recurring basis and indicates the level of the fair value hierarchy used to determine such fair values: December 31, 2021 Level 1 Level 2 Level 3 Total (in thousands) Assets Money Market funds in Cash and Cash $ 162,164 $ — $ — $ 162,164 Total Assets $ 162,164 $ — $ — $ 162,164 Liabilities: Public Warrants $ 8,625 $ — $ — $ 8,625 Private Placement Warrants $ — $ 4,651 $ — $ 4,651 Total Liabilities $ 8,625 $ 4,651 $ — $ 13,276 December 31, 2020 Level 1 Level 2 Level 3 Total (in thousands) Assets Money Market funds in Cash and Cash $ 92,858 $ — $ — $ 92,858 Total Assets $ 92,858 $ — $ — $ 92,858 Money market funds were valued by the Company using quoted prices in active markets for similar securities, which represent a Level 1 measurement within the fair value hierarchy. As of December 31, 2021, the Company has Private Placement Warrants and Public Warrants (“Warrants”) defined and discussed in Note 16, “ Common Stock and Warrants During the year ended December 31, 2021, there were no transfers between Level 1, Level 2, and Level 3. The change in fair value of warrant liabilities is as follows: Warrant Liabilities (in thousands) Balance at December 31, 2020 $ — Private placement warrants and public warrants 24,338 Exercised warrants — Change in fair value (11,061 ) Balance at December 31, 2021 $ 13,277

Income Taxes

Income Taxes	12 Months Ended
	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income Taxes	12. INCOME TAXES During the years ended December 31, 2021 and 2020, the Company recorded no income tax benefits due to the losses incurred and the uncertainty of future taxable income. For financial reporting purposes, net loss before income taxes, includes the following components: Years Ended December 31, 2021 2020 (in thousands) Domestic $ (153,426 ) $ (57,638 ) Foreign 104 45 Total $ (153,322 ) $ (57,593 ) A reconciliation of the expected income tax (benefit) computed using the federal statutory income tax rate to the Company’s effective income tax rate is as follows: Years Ended December 31, 2021 2020 Federal statutory rate% 21.0 % 21.0 % State rate, net of federal benefit% 7.5 % 4.1 % Change in valuation allowance% (28.0 )% (30.0 )% Tax credits generated% 3.3 % 5.9 % Stock-based compensation% (2.6 )% (2.1 )% Warrant revaluation% 1.5 % 1.4 % Permanent differences% (2.5 )% (0.2 )% Other Items (0.3 )% 0.0 % Effective tax rate% (0.1 )% 0.1 % Deferred tax assets and liabilities consist of the following: Years Ended December 31, 2021 2020 (in thousands) Federal and state net operating carryforwards $ 70,569 $ 36,988 Research and development and other credits 13,046 8,000 Stock-based compensation 1,742 240 Deferred revenue — 228 Other 4,359 1,262 Gross deferred tax assets 89,716 46,718 Valuation allowance (89,633 ) (46,722 ) Net deferred tax assets $ 83 $ (4 ) Realization of deferred tax assets is dependent upon the generation of future taxable income. As required by ASC 740 Income Taxes As of December 31, 2021 and 2020, the Company had federal net operating loss carryforwards of $256.6 million and $143.2 million, respectively, which may be available to reduce future taxable income. The carryforwards generated in 2018 and prior expire at various dates through 2038. The $215.2 million in carryforwards generated from 2019 onwards do not expire. As of December 31, 2021 and 2020, the Company had state net operating loss carryforwards of $263.2 million and $105.8 million, respectively, which may be available to reduce future taxable income. These carryforwards expire at various dates through 2041. In addition, the Company had federal and state research and development tax credit carryforwards of $14.2 million available to reduce future tax liabilities, which will expire at various dates through 2041. Utilization of the Company’s net operating loss (“NOL”) carryforwards and research and development (“R&D”) tax credit carryforwards may be subject to a substantial annual limitation due to ownership change limitations that have occurred previously or that could occur in the future in accordance with Section 382 of the Internal Revenue Code of 1986 (“Section 382”) as well as similar state provisions. These ownership changes may limit the amount of NOL and R&D tax credit carryforwards that can be utilized annually to offset future taxable income and taxes, respectively. In general, an ownership changes as defined by Section 382 results from transactions increasing the ownership of certain shareholders or public groups in the stock of a corporation by more than 50% over a three-year period. The Company has not conducted a study to assess whether a change of control has occurred or whether there have been multiple changes of control since inception due to significant complexity with such a study. If the Company has experienced a change of control, as defined by Section 382, at any time since inception, utilization of the NOL carryforwards or R&D tax credit carryforwards would be subject to an annual limitation under Section 382, which is determined by first multiplying the value of the Company’s stock at the time of the ownership change by the applicable long-term tax-exempt The Company operates within multiple taxing jurisdictions and is required to file tax returns in those jurisdictions. Since the Company is in a loss carryforward position, the Company is generally subject to examination by the U.S. federal, state, and local income tax authorities for all tax years in which a loss carryforward is available. The Company is currently not under examination by the Internal Revenue Service or any other

Net Loss Per Share Attributable

Net Loss Per Share Attributable to Common Shareholders	12 Months Ended
	Dec. 31, 2021
Earnings Per Share [Abstract]
Net Loss Per Share Attributable to Common Shareholders	13. NET LOSS PER SHARE ATTRIBUTABLE TO COMMON SHAREHOLDERS Through the Merger, the Company added Class C stock to its capital structure. Class A and Class C common stock have identical rights, including liquidation and dividend rights, except the Company’s Class C common stock is convertible into Class A common stock, and is automatically converted into Class A common stock on a one-for-one two-class The Company uses the two-class Net loss attributable to common stockholders is equivalent to net loss for all periods presented. The following table sets forth the computation of basic and diluted net loss per share attributable to common stockholders for the periods presented: For the Twelve Months Ended December 31, 2021 2020 Class A Class C Class A Class C Numerator: Net loss attributable to common stockholders (in thousands) $ (149,960 ) $ (3,437 ) $ (57,642 ) $ — Denominator: Weighted-average shares used in computing net loss per attributable to common stockholders, basic and diluted 112,717,964 2,583,562 20,885,580 — Net loss per share Net loss per share attributable to common shareholders, basic and diluted $ (1.33 ) $ (1.33 ) $ (2.76 ) $ — For the years ended December 31, 2021 and 2020, options, warrants, restricted stock units, and restricted stock awards, representing approximately 29.4 million, 14.8 million, 4.9 million, and 3.9 million shares of common stock, respectively, were excluded from the computation of diluted earnings per share as their effect would have been antidilutive. Accordingly, basic and diluted net loss per share are the same for both periods.

Segment Information

Segment Information	12 Months Ended
	Dec. 31, 2021
Segment Reporting [Abstract]
Segment Information	14. SEGMENT INFORMATION In its operation of the business, management, including our chief operating decision maker, who is also our Chief Executive Officer, reviews the business as one segment. The Company currently ships its products to markets in the United States and Japan. Product sales attributed to a country are based on the location of the customer to whom the products are being sold. Long-lived assets are primarily held in the United States. Product sales by country are as follows: Years Ended December 31, 2021 2020 (in thousands) United States $ 45,781 $ 25,020 Japan 5,071 9,815 Total Revenue $ 50,852 $ 34,835

Commitments and Contingencies

Commitments and Contingencies	12 Months Ended
	Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract]
Commitments and Contingencies	15. COMMITMENTS AND CONTINGENCIES The Company has various non-cancellable In September 2016, the Company executed a lease agreement for office space in Lexington, Massachusetts. The lease has an initial term of approximately five years with the option to extend the term for one additional five-year term.​​​​​​​ In December 2018, the Company executed the First Amendment to expand the premises. In addition to rent, the lease requires the Company to pay additional amounts for taxes, insurance, maintenance and other operating expenses. In February 2018, the Company executed a sublease agreement for additional office space in Lexington, Massachusetts. The sublease has a term of approximately three years. The sublease agreement expired during 2021 and will not be renewed. In August 2019, the Company executed a lease agreement for office and warehouse space in Sharpsburg, Pennsylvania. The lease has an initial term of approximately five years and three months with an option to extend the term for one additional five-year term.​​​​​​​ In addition to rent, the lease requires the Company to pay additional amounts for taxes, insurance, maintenance, and other operating expenses. In February 2020, the Company executed a lease for its headquarters in Bedford, Massachusetts. The original 11-year Rental expense was approximately $2.0 million for each of the years ended December 31, 2021 and 2020. As of December 31, 2021, future minimum rental commitments for operating leases with non-cancellable Operating Years Ending December 31, (in thousands) 2022 $ 1,601 2023 1,462 2024 1,504 2025 1,473 2026 1,287 Thereafter 5,792 Tota $ 13,119

Common Stock and Warrants

Common Stock and Warrants	12 Months Ended
	Dec. 31, 2021
Equity [Abstract]
Common Stock and Warrants	16. COMMON STOCK AND WARRANTS Prior to the Merger, RAAC had three classes of authorized common stock: Class A common stock, Class B common stock, and Class C common stock. At the time of the Merger Class B shares automatically converted to Class A shares on a one-for-one one-for-one Merger Transaction At the time of the Merger (as discussed in Note 3, “ Merger Class A Common Stock Warrants As the accounting acquirer, the Company is deemed to have assumed 5,166,667 warrants for Class A common stock that were sold in a private placement to RAAC Management, LLC at an exercise price of $11.50 (“Private Placement Warrants”) and 9,583,333 redeemable warrants for Class A common stock held by shareholders of RAAC at an exercise price of $11.50 (“Public Warrants”). The Public Warrants became exercisable 30 days after the consummation of the Merger and will expire five years from the consummation of the Merger or earlier upon redemption or liquidation. The Private Placement Warrants and Public Warrants for shares of Class A common stock meet liability classification requirements since the warrants may be required to be settled in cash under a tender offer. Therefore, these warrants are classified as liabilities on the consolidated balance sheet. As of December 31, 2021, no warrants have been exercised. As of December 31, 2021, the following Warrants were outstanding: Warrant Type Exercise Price Shares Public Warrants $ 11.50 9,583,333 Private Placement Warrants $ 11.50 5,166,667 Total Warrants Outstanding 14,750,000 Public Warrant Terms Once the price per share of Class A common stock equals or exceeds $18.00 the Company may redeem the outstanding Public Warrants: • in whole and not in part; • at a price of $0.01 per Public Warrant; • upon not less than 30 • if, and only if, the last reported sale price of the Class A common stock for any 20 trading days within a 30-trading Once the price per share of Class A common stock equals or exceeds $10.00 the Company may redeem the outstanding Public Warrants: • in whole and not in part; • at $0.10 per warrant upon a minimum of 30 days’ prior written notice of redemption provided that holders will be able to exercise their warrants on a cashless basis prior to redemption and receive that number of shares based on the redemption date and the “fair market value” of our Class A common stock; • if, and only if, the Reference Value equals or exceeds $10.00 per share (as adjusted); and • if the Reference Value is less than $18.00 per share (as adjusted), the Private Placement Warrants must also be concurrently called for redemption on the same terms as the outstanding Public Warrants, as described above. Private Placement Warrants The Private Placement Warrants are identical to the Public Warrants underlying the units sold in the Initial Public Offering, except that the Private Placement Warrants will be exercisable on a cashless basis and will be non-redeemable

Significant Accounting Polici_2

Significant Accounting Policies (Policies)	12 Months Ended
	Dec. 31, 2021
Accounting Policies [Abstract]
Use of Estimates	Use of Estimates The preparation of consolidated financial statements in conformity with GAAP requires management to make estimates and assumptions which affect the reported amounts of assets and liabilities and disclosure of contingent assets and liabilities at the date of the financial statements and the reported amounts of revenue and expenses during the reporting period. These estimates and judgments include, but are not limited to, revenue recognition (including performance obligations, provisions for contract losses, variable consideration and other obligations such as product returns), realizability of deferred fulfillment costs, inventory, warranty cost, accounting for stock-based compensation (including performance-based assessments), and accounting for income taxes and related valuation allowances. Actual results may differ from estimates.
Cash Equivalents and Restricted Cash	Cash Equivalents and Restricted Cash The Company considers all highly liquid investments with an original maturity of three months or less to be cash equivalents. The Company’s cash equivalents consist of money market funds. Restricted cash represents cash on deposit with a financial institution as collateral for the Company’s corporate credit cards and an irrevocable standby letter of credit as security for the Company’s obligations under the lease for its headquarters in Massachusetts. The Company has included restricted cash as a non-current
Revenue Recognition	Revenue Recognition On January 1, 2018, the Company adopted ASC 606 using the modified retrospective method. See Note 7, “ Revenue
Concentration of Credit Risk and Significant Customers	Concentration of Credit Risk and Significant Customers Financial instruments which potentially expose the Company to concentrations of credit risk consist of accounts receivable and cash and cash equivalents. At December 31, 2021 and 2020, two customers and three customers accounted for approximately 100% of the Company’s accounts receivable balance, respectively. For the year ended December 31, 2021, the Company generated approximately 32%, 27%, 14% and 12% of revenues from four significant customers. For the year ended December 31, 2020, the Company generated approximately 70% and 30% of revenues from two these The Company places cash and cash equivalents with high-quality financial institutions. The Company is exposed to credit risk in the event of default by these institutions to the extent the amount recorded on the consolidated balance sheets exceeds federally insured limits.
Warrant Liabilities	Warrant Liabilities The Company classifies Private Placement Warrants and Public Warrants (both defined and discussed in Note 16, “ Common Stock and Warrants paid-in
Fair Value Measurements	Fair Value Measurements The Company’s fair value measurements are estimated pursuant to a fair value hierarchy that requires us to maximize the use of observable inputs and minimize the use of unobservable inputs. The valuation hierarchy is based upon the transparency of inputs to the valuation of an asset or liability as of the measurement date, giving highest priority to quoted prices in active markets (Level 1) and the lowest priority to unobservable data (Level 3). In some cases, the inputs used to measure fair value might fall in different levels of the fair value hierarchy. The lowest level input that is significant to a fair value measurement in its entirety determines the applicable level in the fair value hierarchy. Assessing the significance of a particular input to the fair value measurement in its entirety requires judgment, considering factors specific to the asset or liability, and may affect the valuation of the assets and liabilities and their placement within the hierarchy level. The three levels of inputs that may be used to measure fair value are defined as: Level 1 — Quoted prices for identical assets and liabilities traded in active exchange markets. Level 2 — Observable inputs other than Level 1 that are directly or indirectly observable for the asset or liability, including quoted prices for similar assets or liabilities in active markets, quoted prices for identical or similar assets or liabilities inactive markets, or other observable inputs that can be corroborated by observable market data. Level 3 — Unobservable inputs supported by little or no market activity for financial instruments whose value is determined using pricing models, discounted cash flow methodologies, or similar techniques, as well as instruments for which the determination of fair value requires significant management judgment or estimation.
Accounts Receivable	Accounts Receivable The Company evaluates the collectability of outstanding receivables and provides an allowance for receivables when collection becomes doubtful. Provisions are made based upon a specific review of all significant outstanding invoices and the overall quality and age of those invoices not specifically reviewed. The Company’s receivables amounted to approximately $13.3 million and $16.8 million as of December 31, 2021 and 2020, respectively. The Company believes that credit risks associated with these contracts are not significant. To date, the Company has not experienced any losses associated with accounts receivable and does not maintain an allowance for doubtful accounts.
Inventories	Inventories Inventories are stated at the lower of cost or net realizable value, with cost determined by use of the average cost method. The Company maintains an inventory reserve for the estimated amount of excess or obsolete inventory.
Contract Assets and Contract Liabilities	Contract Assets and Contract Liabilities Contract assets represent the sale of goods or services to a customer before the Company has the right to obtain consideration from the customer. Contract assets consist of unbilled amounts at the reporting date and are transferred to accounts receivable when the rights become unconditional. Contract liabilities represent an obligation to transfer goods or services to a customer for which the Company received advanced consideration. Contract liabilities will be recognized as revenue when the contracted deliverables are provided to our customers. See Note 7 for additional information.​​​​​​​
Deferred Fulfillment Costs	Deferred Fulfillment Costs The Company incurs costs to fulfill obligations under a contract once it is obtained, but before transferring goods or services to the customer. The Company capitalizes deferred fulfillment costs if they are directly related to a specific customer contract, generate or enhance assets used to satisfy the customer contract performance obligations in the future, and are recoverable. The Company’s deferred fulfillment costs include direct labor related to manufacturing, installation, software services, and direct materials.
Property and Equipment	Property and Equipment Property and equipment, including significant betterments to existing facilities, are recorded at cost, less accumulated depreciation. Upon retirement or disposal, the cost and accumulated depreciation are removed from the accounts and any gain or loss is included in income. The Company reviews property and equipment for impairment upon a triggering event. If a review indicates that an impairment occurred, the Company writes down the carrying value of the assets to their fair value. Fair value is determined based on comparable market values, when available, or discounted cash flows. The Company concluded there were no triggering events for the years ended December 31, 2021 and 2020.
Depreciation and Amortization	Depreciation and Amortization Depreciation is recorded using the straight-line method over the shorter of the useful life or lease term, when applicable. The Company generally uses estimated useful lives of three years for machinery, furniture, equipment, and software. For leasehold improvements the Company records depreciation over the remaining lease term.
Deferred Rent and Rental Expense	Deferred Rent and Rental Expense Minimum rent expense is recorded using the straight-line method over the related lease term. The differences between payments required and rental expense are reflected as current and non-current
Stock-Based Compensation Expense	Stock-Based Compensation Expense The Company issues stock-based awards to employees and nonemployees, generally in the form of stock options and restricted stock units (“RSUs”). Stock-based awards are accounted for in accordance with ASC Topic 718, Compensation — Stock Compensation The Company issued restricted stock to an executive officer which was purchased with proceeds from a partial recourse promissory note. As the underlying restricted stock was not allocated to the recourse and non-recourse non-recourse Related Party Transactions The Company classifies stock-based compensation expense in its consolidated statements of operations and comprehensive loss in the same way the payroll costs or service payments are classified for the related stock-based award recipient. Our stock-based awards are subject to service or performance-based vesting conditions. Compensation expense related to awards with service-based vesting conditions is recognized on a straight-line basis based on the grant date fair value over the associated service period of the award, which is generally the vesting term. Compensation expense related to awards with pre-established The fair value of stock-based awards were estimated using the Black-Scholes option pricing model or a lattice model, which requires the input of highly subjective assumptions, including (i) the expected volatility of our stock, (ii) the expected term of the award, (iii) the risk-free interest rate, and (iv) expected dividends. Due to the lack of a public market for the trading of our common stock prior to the Merger and a lack of company-specific historical and implied volatility, estimates of expected volatility are based on the historical volatility of a group of similar companies that are publicly traded. Expected life of our stock options are estimated using the “simplified” method, whereby, the expected life equals the average of the vesting term and the original contractual term of the option. The risk-free interest rates for periods within the expected life of the option were based on the U.S. Treasury yield curve in effect during the period the options were granted. The fair value of RSUs are determined based on the closing quoted price of the Company’s common stock on the date of the grant. See Note 10, “ Stock-Based Compensation
Research and Development	Research and Development Costs incurred in the research and development of the Company’s products are expensed as incurred.
Warranty	Warranty The Company accrues an estimate warranty expense based on expected warranty claims and costs to be incurred. Product warranty reserves are recorded in accrued expenses.
Income Taxes	Income Taxes Income taxes are recorded in accordance with ASC Topic 740, Income Taxes The Company accounts for uncertain tax positions in accordance with the provisions of ASC 740. When uncertain tax positions exist, the Company recognizes the tax benefit of tax positions to the extent that the benefit will more likely than not be realized. The determination as to whether the tax benefit will more likely than not be realized is based upon the technical merits of the tax position as well as consideration of the available facts and circumstances. As of December 31, 2021 and 2020, the Company did not have any significant uncertain tax positions. The Company’s practice is to recognize interest and/or penalties related to income tax matters in income tax expense. See Note 12, “ Income Taxes
Net Loss Per Common Share	Net Loss Per Common Share As a result of the Merger, the Company has retroactively restated the weighted average shares outstanding prior to July 21, 2021, to give effect to the Exchange Ratio. Basic earnings per share is computed by dividing the loss available to common shareholders (numerator) by the weighted average number of shares of Class A common stock and Class C common stock outstanding (denominator) during the period. Diluted earnings per share is calculated using the Company’s weighted-average outstanding common shares including the dilutive effect of stock awards as determined under the treasury stock method and warrants using the if-converted Net Loss Per Share Attributable to Common Shareholders
Recent Accounting Pronouncements	Recent Accounting Pronouncements In February 2016, the Financial Accounting Standards Board (“FASB”) issued ASU 2016-02, 2016-02 right-of-use 8 10 9 11 right-use In June 2016, the FASB issued ASU 2016-13, In December 2019, the FASB issued ASU 2019-12,

Inventories (Tables)

Inventories (Tables)	12 Months Ended
	Dec. 31, 2021
Inventory Disclosure [Abstract]
Summary of Inventories	Inventories consist of the following: Years Ended December 31, 2021 2020 (in thousands) Work in progress $ 538 $ 3 Finished goods 2,103 755 Inventory, net $ 2,641 $ 758

Property and Equipment (Tables)

Property and Equipment (Tables)	12 Months Ended
	Dec. 31, 2021
Property, Plant and Equipment [Abstract]
Summary of Property and Equipment	Property and equipment consist of the following: December 31, 2021 2020 (in thousands) Leasehold improvements $ 6,512 $ 5,907 Machinery and equipment 922 15 Furniture and fixtures 983 714 Research and development equipment 4,712 2,794 Computer hardware and software 1,708 1,219 Construction in progress 382 437 Subtotal 15,219 11,086 Less: Accumulated depreciation 4,345 1,683 Property and equipment, net $ 10,874 $ 9,403

Accrued Expenses (Tables)

Accrued Expenses (Tables)	12 Months Ended
	Dec. 31, 2021
Payables and Accruals [Abstract]
Summary of Accrued Expenses	Accrued expenses consist of the following: December 31, 2021 2020 (in thousands) Accrued compensation $ 8,562 $ 5,424 Accrued sales taxes payable 372 879 Accrued professional services 1,742 754 Accrued materials 3,094 401 Accrued other 1,437 272 Accrued warranty 452 41 Accrued expenses $ 15,659 $ 7,771
Changes in our Product warranty	Changes in our product warranty consist of the following: December 31, 2021 2020 (in thousands) Beginning balance $ 41 $ 317 Accrual (reversal) for warranty expense (58 ) (136 ) Warranty costs incurred during period 469 (140 ) Ending balance $ 452 $ 41

Revenue (Tables)

Revenue (Tables)	12 Months Ended
	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Summary of Disaggregates Revenue by Timing of Goods and Services	The following table disaggregates revenue by timing of transfer of goods or services: Years Ended December 31, 2021 2020 (in thousands) Transferred over time $ 49,610 $ 10,045 Transferred at a point in time 1,242 24,790 Total Revenue $ 50,852 $ 34,835
Summary of Changes in Contract Liabilities	The following table summarizes changes in contract liabilities during the year ended December 31, 2021: Contract (in thousands) Contract liabilities at December 31, 2020 $ 22,331 Additions to contract liabilities during the period 35,760 Provision for contract losses 8,465 Revenue recognized in the period from: Amounts included in contract liabilities at the beginning of the period (21,957 ) Amounts added to contract liabilities during the period (25,383 ) Contract liabilities at December 31, 2021 $ 19,216

Convertible Preferred Stock A_2

Convertible Preferred Stock And Stockholders' Equity (Tables)	12 Months Ended
	Dec. 31, 2021
Temporary Equity Disclosure [Abstract]
Summary of convertible preferred stock authorized, issued and outstanding, and liquidation preference	The following table summarizes details of Convertible Preferred Stock authorized, issued and outstanding, and liquidation preference: December 31, 2020 Convertible preferred stock Authorized Shares issued and Liquidation (in thousands) Series A 12,999,666 12,999,666 $ 500 Series A-1 14,124,639 14,124,639 2,500 Series A-2 24,197,491 24,197,491 11,098 Series A-3 4,612,871 4,612,871 1,058 Series A-4 4,173,740 4,173,740 1,531 Series B 31,644,237 31,644,237 24,100 Series B-1 16,477,658 16,477,658 24,110 Series B-2 68,937,247 57,513,760 174,550 Series B-3 11,185,544 — — 188,353,093 165,744,062 $ 239,447

Stock-Based Compensation (Table

Stock-Based Compensation (Tables)	12 Months Ended
	Dec. 31, 2021
Share-based Payment Arrangement [Abstract]
Summary of Stock-based Compensation Expense Recognized for all Stock-based Awards	Stock-based compensation expense recognized for all stock-based awards is reported in the Company’s consolidated statements of operations and comprehensive loss as follows: Years Ended December 31, 2021 2020 (in thousands) Cost of sales $ 557 $ 137 General and administrative 19,353 3,245 Sales and marketing 27,278 1,583 Research and development 2,655 1,056 Total $ 49,843 $ 6,021
Summarizes Stock Option Activity	The following table summarizes stock option activity under the 2013 Plan and 2021 Plan since December 31, 2020: Options Weighted- Exercise Price Weighted- Remaining Contractual Term (years) Outstanding at December 31, 2020 35,001,146 $ 0.80 7.8 Granted 2,270,858 7.70 — Exercised (6,574,818 ) 0.48 — Cancelled (21,090 ) 1.11 — Forfeited (1,240,777 ) 0.80 — Outstanding at December 31, 2021 29,435,319 $ 1.40 7.5 Exercisable at December 31, 2021 15,202,295 $ 0.71 6.5 Vested or expected to vest at December 31, 2021 29,435,319 $ 1.40 7.5
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions	In determining the estimated fair value of the stock option awards, the Company uses the Black-Scholes option pricing model. The fair value of share option awards was estimated with the following assumptions: As of December 31, 2021 2020 Expected volatility 32% - 34% 55.0% Risk-free interest rate .99% - 1.20% .55% - .68% Expected term (in years) 6.1 6.1 Expected dividend rate 0% 0%
Summary of Share-based Payment Arrangement, RSU, Activity	The following table summarizes the RSU activity under the equity incentive plan: RSUs RSU Weighted- Date Fair Value Per Share Balance as of December 30, 2020 Granted 5,041,197 $ 6.33 Vested (37,043 ) 7.61 Forfeited (79,911 ) 7.61 Outstanding at December 31, 2021 4,924,243 $ 6.30 Expected to vest at December 31, 2021 4,924,243 $ 6.30

Fair Value of Financial Instr_2

Fair Value of Financial Instruments (Tables)	12 Months Ended
	Dec. 31, 2021
Fair Value Disclosures [Abstract]
Schedule of assets measured at fair value on a recurring basis	The following table summarizes information about the Company’s financial assets and liabilities measured at fair value on a recurring basis and indicates the level of the fair value hierarchy used to determine such fair values: December 31, 2021 Level 1 Level 2 Level 3 Total (in thousands) Assets Money Market funds in Cash and Cash $ 162,164 $ — $ — $ 162,164 Total Assets $ 162,164 $ — $ — $ 162,164 Liabilities: Public Warrants $ 8,625 $ — $ — $ 8,625 Private Placement Warrants $ — $ 4,651 $ — $ 4,651 Total Liabilities $ 8,625 $ 4,651 $ — $ 13,276 December 31, 2020 Level 1 Level 2 Level 3 Total (in thousands) Assets Money Market funds in Cash and Cash $ 92,858 $ — $ — $ 92,858 Total Assets $ 92,858 $ — $ — $ 92,858
Schedule of changes in fair value of warrant liabilities	The change in fair value of warrant liabilities is as follows: Warrant Liabilities (in thousands) Balance at December 31, 2020 $ — Private placement warrants and public warrants 24,338 Exercised warrants — Change in fair value (11,061 ) Balance at December 31, 2021 $ 13,277

Income Taxes (Tables)

Income Taxes (Tables)	12 Months Ended
	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Summary of income tax benefits due to the losses incurred	During the years ended December 31, 2021 and 2020, the Company recorded no income tax benefits due to the losses incurred and the uncertainty of future taxable income. For financial reporting purposes, net loss before income taxes, includes the following components: Years Ended December 31, 2021 2020 (in thousands) Domestic $ (153,426 ) $ (57,638 ) Foreign 104 45 Total $ (153,322 ) $ (57,593 )
Summary of federal statutory income tax rate	A reconciliation of the expected income tax (benefit) computed using the federal statutory income tax rate to the Company’s effective income tax rate is as follows: Years Ended December 31, 2021 2020 Federal statutory rate% 21.0 % 21.0 % State rate, net of federal benefit% 7.5 % 4.1 % Change in valuation allowance% (28.0 )% (30.0 )% Tax credits generated% 3.3 % 5.9 % Stock-based compensation% (2.6 )% (2.1 )% Warrant revaluation% 1.5 % 1.4 % Permanent differences% (2.5 )% (0.2 )% Other Items (0.3 )% 0.0 % Effective tax rate% (0.1 )% 0.1 %
Summary of deferred tax assets and liabilities	Deferred tax assets and liabilities consist of the following: Years Ended December 31, 2021 2020 (in thousands) Federal and state net operating carryforwards $ 70,569 $ 36,988 Research and development and other credits 13,046 8,000 Stock-based compensation 1,742 240 Deferred revenue — 228 Other 4,359 1,262 Gross deferred tax assets 89,716 46,718 Valuation allowance (89,633 ) (46,722 ) Net deferred tax assets $ 83 $ (4 )

Net Loss Per Share Attributab_2

Net Loss Per Share Attributable to Common Shareholders (Tables)	12 Months Ended
	Dec. 31, 2021
Earnings Per Share [Abstract]
Schedule of basic and diluted net loss per share	The following table sets forth the computation of basic and diluted net loss per share attributable to common stockholders for the periods presented: For the Twelve Months Ended December 31, 2021 2020 Class A Class C Class A Class C Numerator: Net loss attributable to common stockholders (in thousands) $ (149,960 ) $ (3,437 ) $ (57,642 ) $ — Denominator: Weighted-average shares used in computing net loss per attributable to common stockholders, basic and diluted 112,717,964 2,583,562 20,885,580 — Net loss per share Net loss per share attributable to common shareholders, basic and diluted $ (1.33 ) $ (1.33 ) $ (2.76 ) $ —

Segment Information (Tables)

Segment Information (Tables)	12 Months Ended
	Dec. 31, 2021
Segment Reporting [Abstract]
Summary of product by sales	Product sales by country are as follows: Years Ended December 31, 2021 2020 (in thousands) United States $ 45,781 $ 25,020 Japan 5,071 9,815 Total Revenue $ 50,852 $ 34,835

Commitments and Contingencies (

Commitments and Contingencies (Tables)	12 Months Ended
	Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract]
Schedule of Future Minimum Rental Payments for Operating Leases	As of December 31, 2021, future minimum rental commitments for operating leases with non-cancellable Operating Years Ending December 31, (in thousands) 2022 $ 1,601 2023 1,462 2024 1,504 2025 1,473 2026 1,287 Thereafter 5,792 Tota $ 13,119

Common Stock and Warrants (Tabl

Common Stock and Warrants (Tables)	12 Months Ended
	Dec. 31, 2021
Equity [Abstract]
Schedule of Warrants Outstanding	As of December 31, 2021, the following Warrants were outstanding: Warrant Type Exercise Price Shares Public Warrants $ 11.50 9,583,333 Private Placement Warrants $ 11.50 5,166,667 Total Warrants Outstanding 14,750,000

Nature of the Business and Ba_2

Nature of the Business and Basis of Presentation - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2021USD ($)
Deferred Compensation Arrangement With Individual Excluding Share Based Payments And Postretirement Benefits [Line Items]
Proceeds from Issuance of Preferred Stock and Warrants	$ 227.3
Legacy Berkshire Grey Inc | Merger Agreement [Member]
Deferred Compensation Arrangement With Individual Excluding Share Based Payments And Postretirement Benefits [Line Items]
Net Proceeds from the Merger Received	$ 192.1
Common Class A [Member] | Legacy Berkshire Grey Inc | Merger Agreement [Member] | Reverse Recapitalization [Member]
Deferred Compensation Arrangement With Individual Excluding Share Based Payments And Postretirement Benefits [Line Items]
Preferred Stock Exchange Ratio	5.87585

Significant Accounting Polici_3

Significant Accounting Policies - Additional Information (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2021USD ($)Customer	Dec. 31, 2020USD ($)Customer
Financing Receivable, Impaired [Line Items]
Accounts receivable | $	$ 13,291	$ 16,752
Uncertain tax position | $	$ 0	$ 0
Sales Revenue Net Member | Customer Concentration Risk Member
Financing Receivable, Impaired [Line Items]
Number of major customers	4	2
Sales Revenue Net Member | Customer Concentration Risk Member | Revenue Generated from Customer, 32% [Member]
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage	32.00%
Sales Revenue Net Member | Customer Concentration Risk Member | Revenue Generated from Customer, 27% [Member]
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage	27.00%
Sales Revenue Net Member | Customer Concentration Risk Member | Revenue Generated from Customer, 14% [Member]
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage	14.00%
Sales Revenue Net Member | Customer Concentration Risk Member | Revenue Generated from Customer, 12% [Member]
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage	12.00%
Sales Revenue Net Member | Customer Concentration Risk Member | Revenue Generated from Customer, 70% [Member]
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage		70.00%
Sales Revenue Net Member | Customer Concentration Risk Member | Revenue Generated from Customer, 30% [Member]
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage		30.00%
Accounts Receivable Member | Customer Concentration Risk Member | Three Customer Member
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage		100.00%
Number of major customers		3
Accounts Receivable Member | Customer Concentration Risk Member | Two Customer Member
Financing Receivable, Impaired [Line Items]
Concentration Risk, Percentage	100.00%
Number of major customers	2

Merger - Additional Information

Merger - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	Jul. 21, 2021	Dec. 31, 2021	Jul. 22, 2021	Dec. 31, 2020
Business Acquisition [Line Items]
Proceeds from issuance of common stock upon Merger, net of issuance costs paid		$ 192,088
Common stock, par value (in Dollars per share)		$ 0.0001		$ 0.0001
Price per share (in Dollars per share)		$ 10
RAAC [Member]
Business Acquisition [Line Items]
Proceeds from issuance or sale of equity	$ 220,000
Proceeds from issuance of common stock upon Merger, net of issuance costs paid		$ 55,000
Business merger transaction cost			$ 27,900
Preferred stock par value (in Dollars per share)			$ 0.001
Common stock, par value (in Dollars per share)			$ 0.001
Merger agreement description		Subject to the terms and conditions of the Merger Agreement, the consideration paid in respect of each share of Legacy Berkshire Grey preferred and common stock issued and outstanding (other than (i) any such shares held in the treasury of the Company and (ii) any shares held by stockholders of the Company who had perfected and not withdrawn a demand for appraisal rights) immediately prior to the effective time of the Merger was the number of shares of newly issued Class A common stock of RAAC (with each share valued at $10.00), par value $0.0001 per share (“Class A Stock”), equal to (x) $2.25 billion divided by (y) the number of shares of Aggregate Fully Diluted Company Stock (as defined in the Merger Agreement).
PIPE Investment [Member]
Business Acquisition [Line Items]
Common stock exchange ratio		5.87585%
PIPE Investment [Member] | RAAC [Member]
Business Acquisition [Line Items]
Stock issued during period, value, acquisitions		$ 165,000
Class A Common Stock [Member]
Business Acquisition [Line Items]
Common stock, par value (in Dollars per share)		$ 0.0001
Price per share (in Dollars per share)		$ 10
Class A Common Stock [Member] | RAAC [Member]
Business Acquisition [Line Items]
Proceeds from issuance of common stock upon Merger, net of issuance costs paid		$ 165,000
Business merger transaction cost		$ 2,250
Common stock exchange ratio		5.87585%
Common stock, par value (in Dollars per share)		$ 0.0001
Price per share (in Dollars per share)		$ 10

Inventories - Summary of Invent

Inventories - Summary of Inventories (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Inventory Disclosure [Abstract]
Work in progress	$ 538	$ 3
Finished goods	2,103	755
Inventory, net	$ 2,641	$ 758

Property and Equipment - Summar

Property and Equipment - Summary of Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	$ 15,219	$ 11,086
Less: Accumulated depreciation	4,345	1,683
Property and equipment, net	10,874	9,403
Leasehold improvements
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	6,512	5,907
Machinery and equipment Member
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	922	15
Furniture and fixtures Member
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	983	714
Research and development equipment
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	4,712	2,794
Computer hardware and software
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	1,708	1,219
Construction in progress
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	$ 382	$ 437

Property and Equipment - Additi

Property and Equipment - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Abstract]
Depreciation on property plant and equipment	$ 2.7	$ 1

Accrued Expenses - Summary of A

Accrued Expenses - Summary of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Payables and Accruals [Abstract]
Accrued compensation	$ 8,562	$ 5,424
Accrued sales taxes payable	372	879
Accrued professional services	1,742	754
Accrued materials	3,094	401
Accrued other	1,437	272
Accrued warranty	452	41	$ 317
Accrued expenses	$ 15,659	$ 7,771

Accrued Expenses - Additional I

Accrued Expenses - Additional Information (Details) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued compensation	$ 5.4	$ 3.9

Accrued Expenses - Summary of C

Accrued Expenses - Summary of Changes in our Product Warranty (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Beginning balance	$ 41	$ 317
Accrual (reversal) for warranty expense	(58)	(136)
Warranty costs incurred during period	469	(140)
Ending balance	$ 452	$ 41

Revenue - Additional Informatio

Revenue - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Deferred Costs	$ 7.7	$ 3.5
Gross Loss on Current Contracts	12.1
Provision for contract losses	8.5
Other Current Assets, contract	$ 4.3	$ 0

Revenue - Summary of Revenue by

Revenue - Summary of Revenue by Disaggregates Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Disaggregation Of Revenue [Line Items]
Total Revenue	$ 50,852	$ 34,835
Transferred over Time
Disaggregation Of Revenue [Line Items]
Total Revenue	49,610	10,045
Transferred at Point in Time
Disaggregation Of Revenue [Line Items]
Total Revenue	$ 1,242	$ 24,790

Revenue - Summary of Changes in

Revenue - Summary of Changes in Contract Liabilities (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2021USD ($)
Revenue from Contract with Customer [Abstract]
Contract liabilities Beginning balance	$ 22,331
Additions to contract liabilities during the period	35,760
Provision for contract losses	8,465
Revenue recognized in the period from:
Amounts included in contract liabilities at the beginning of the period	(21,957)
Amounts added to contract liabilities during the period	(25,383)
Contract liabilities Ending balance	$ 19,216

Related Party Transactions - Ad

Related Party Transactions - Additional Information (Details) - USD ($)	2 Months Ended	12 Months Ended
	Oct. 31, 2019	Dec. 31, 2021	Dec. 31, 2020
Related Party Transaction [Line Items]
Cost of revenue (see Note 8 for related party transactions)		$ 59,099,000	$ 32,009,000
Debt instrument face value	$ 9,900,000
Related party debt rate of interest percentage	1.86%
Related party transaction liable percentage	51.00%
Stock Repurchase Description		On February 23, 2021, the Company entered into an agreement with the executive officer, in which the Company’s Board of Directors authorized the repurchase of a sufficient number of vested shares of common stock from the executive officer, at an aggregate price sufficient to repay the Promissory Note (the “Stock Repurchase Agreement”). At the Closing Date on July 21, 2021, all outstanding principal and accrued interest under the Promissory Note was repaid and the note was retired.
Contract with customers liabilities current		$ 19,216,000	22,331,000
Common Class A [Member]
Related Party Transaction [Line Items]
Conversion of Shares	7,003,261
Costumer Contracts [Member]
Related Party Transaction [Line Items]
Deferred Costs			1,400,000
Contract with Customer, Liability		5,100	9,800
Cost of revenue (see Note 8 for related party transactions)		2,100,000	4,300,000
Contract with customers liabilities current			$ 4,600,000
Costumer Contracts [Member] | Maximum [Member]
Related Party Transaction [Line Items]
Deferred Costs		100,000
Contract with customers liabilities current		$ 100,000

Convertible Preferred Stock a_3

Convertible Preferred Stock and Stockholders' Equity - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2020USD ($)shares
Temporary Equity Disclosure [Abstract]
Cumulative amount raised redeemable convertible preferred stock | $	$ 227.3
Conversion of Stock, Shares Issued | shares	5.87585

Convertible Preferred Stock a_4

Convertible Preferred Stock and Stockholders' Equity - Summary of Convertible Preferred Stock authorized, issued and outstanding, and liquidation preference (Details) $ in Thousands	Dec. 31, 2020USD ($)shares
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	188,353,093
Preferred stock, shares issued	165,744,062
Liquidation preference | $	$ 239,447
Series A
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	12,999,666
Preferred stock, shares issued	12,999,666
Preferred stock, shares outstanding	12,999,666
Liquidation preference | $	$ 500
Series A-1
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	14,124,639
Preferred stock, shares issued	14,124,639
Preferred stock, shares outstanding	14,124,639
Liquidation preference | $	$ 2,500
Series A-2
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	24,197,491
Preferred stock, shares issued	24,197,491
Preferred stock, shares outstanding	24,197,491
Liquidation preference | $	$ 11,098
Series A-3
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	4,612,871
Preferred stock, shares issued	4,612,871
Preferred stock, shares outstanding	4,612,871
Liquidation preference | $	$ 1,058
Series A-4
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	4,173,740
Preferred stock, shares issued	4,173,740
Preferred stock, shares outstanding	4,173,740
Liquidation preference | $	$ 1,531
Series B
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	31,644,237
Preferred stock, shares issued	31,644,237
Preferred stock, shares outstanding	31,644,237
Liquidation preference | $	$ 24,100
Series B-1
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	16,477,658
Preferred stock, shares issued	16,477,658
Preferred stock, shares outstanding	16,477,658
Liquidation preference | $	$ 24,110
Series B-2
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	68,937,247
Preferred stock, shares issued	57,513,760
Preferred stock, shares outstanding	57,513,760
Liquidation preference | $	$ 174,550
Series B-3
Redeemable Noncontrolling Interest [Line Items]
Preferred stock, shares authorized	11,185,544
Preferred stock, shares issued	0
Preferred stock, shares outstanding	165,744,062
Liquidation preference | $	$ 0

Stock-Based Compensation - Addi

Stock-Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021USD ($)$ / sharesshares	Dec. 31, 2020USD ($)shares	Feb. 23, 2021shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options outstanding	3,231,432
Stock-based compensation expense | $	$ 49,843	$ 6,021
Number of shares authorized to be repurchased			1,023,825
Vesting period	4 years
Common Class A [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	19,887,747
Conversion of stock option granted into an option to purchase common stock	5.87585
2013 Employee Stock Option And Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation by share based payment arrangement number of shares authorized	58,863,225	58,863,225
Stock Options [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock Options Granted	2,270,858	17,377,292
Total intrinsic value of options exercised | $	$ 44,200
Stock-based compensation expense | $	22,000	$ 3,300
Total unrecognized compensation cost | $	$ 21,500
Weighted average period	3 years
Restricted Stock Units (RSUs) [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense | $	$ 3,500	0
Total unrecognized compensation cost | $	$ 27,900
Weighted average period	3 years 7 months 6 days
RSUs Granted	5,041,197
Purchase price per share | $ / shares	$ 6.30
RSUs Vested	37,043
RSUs Forfeited	79,911
Restricted Stock Units (RSUs) [Member] | Minimum [Member] | 2021 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	1 year
Restricted Stock Units (RSUs) [Member] | Maximum [Member] | 2021 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	4 years
Restricted Stock [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense | $	$ 24,400	$ 2,700
Total unrecognized compensation cost | $	$ 15,100
RSUs Granted	7,003,261
Purchase price per share | $ / shares	$ 1.42
RSUs Vested	3,063,991
RSUs Forfeited	0

Stock-Based Compensation - Sche

Stock-Based Compensation - Schedule of of Stock-based Compensation Expense Recognized for all Stock-based Awards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized	$ 49,843	$ 6,021
Cost of sales [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized	557	137
General and administrative [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized	19,353	3,245
Sales and marketing [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized	27,278	1,583
Research and development [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized	$ 2,655	$ 1,056

Stock-Based Compensation - Sc_2

Stock-Based Compensation - Schedule of Stock Options Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Ending balance	3,231,432
2013 Plan and 2021 Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Beginning balance	35,001,146
Options, granted	2,270,858
Options, exercised	(6,574,818)
Options, Cancelled	(21,090)
Options, forfeited	(1,240,777)
Options outstanding, Ending balance	29,435,319	35,001,146
Options, exercisable	15,202,295
Options, vested or expected to vest	29,435,319
Weighted-average exercise price outstanding, Beginning balance	$ 0.80
Weighted-average exercise price, granted	7.70
Weighted-average exercise price, exercised	0.48
Weighted Average Exercise price, Cancelled	1.11
Weighted-average exercise price, forfeited	0.80
Weighted-average exercise price outstanding, Ending balance	1.40	$ 0.80
Weighted-average exercise price, exercisable	0.71
Weighted-average exercise price, vested or expected to vest	$ 1.40
Weighted Average Remaining Contractual Term, Beginning balance	7 years 6 months	7 years 9 months 18 days
Weighted-average remaining contractual term, exercisable	6 years 6 months
Weighted-average remaining contractual term, vested or expected to vest	7 years 6 months
Weighted Average Remaining Contractual Term, Ending balance	7 years 6 months	7 years 9 months 18 days

Stock-Based Compensation - Sc_3

Stock-Based Compensation - Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility		55.00%
Expected term (in years)	6 years 1 month 6 days	6 years 1 month 6 days
Expected dividend rate	0.00%	0.00%
Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility	34.00%
Risk-free interest rate	1.20%	68.00%
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility	32.00%
Risk-free interest rate	99.00%	55.00%

Stock-Based Compensation - Sc_4

Stock-Based Compensation - Schedule of of Share-based Payment Arrangement, RSU, Activity (Details) - Restricted Stock Units (RSUs) [Member]	12 Months Ended
	Dec. 31, 2021$ / sharesshares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
RSUs Granted | shares	5,041,197
RSUs Vested | shares	(37,043)
RSUs Forfeited | shares	(79,911)
Ending balance | shares	4,924,243
Options, vested or expected to vest | shares	4,924,243
Weighted-average grant date fair value per share, granted | $ / shares	$ 6.33
Weighted-average grant date fair value per share, vested | $ / shares	7.61
Weighted-average grant date fair value per share, forfeited | $ / shares	7.61
Weighted-average grant date fair value per share, ending balance | $ / shares	6.30
Weighted-average grant date fair value per share, expected to vest | $ / shares	$ 6.30

Fair Value of Financial Instr_3

Fair Value of Financial Instruments - Schedule of assets measured at fair value on a recurring basis (Details) - Fair Value, Recurring [Member] - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Assets
Total Assets	$ 162,164	$ 92,858
Liabilities:
Total Liabilities	13,276
Public Warrants [Member]
Liabilities:
Warrants Liabilities	8,625
Private Placement Warrants [Member]
Liabilities:
Warrants Liabilities	4,651
Money Market funds in Cash and Cash Equivalents [Member]
Assets
Money Market funds in Cash and Cash Equivalents	162,164	92,858
Level 1 [Member]
Assets
Total Assets	162,164	92,858
Liabilities:
Total Liabilities	8,625
Level 1 [Member] | Public Warrants [Member]
Liabilities:
Warrants Liabilities	8,625
Level 1 [Member] | Money Market funds in Cash and Cash Equivalents [Member]
Assets
Money Market funds in Cash and Cash Equivalents	162,164	$ 92,858
Level 2 [Member]
Liabilities:
Total Liabilities	4,651
Level 2 [Member] | Private Placement Warrants [Member]
Liabilities:
Warrants Liabilities	$ 4,651

Fair Value of Financial Instr_4

Fair Value of Financial Instruments - Additional Information (Details)	12 Months Ended
	Dec. 31, 2021USD ($)
Fair Value Disclosures [Abstract]
Public and private warrant trading price	$ 0.90
Transfers between Level 1, Level 2, and Level 3.	$ 0

Fair Value of Financial Instr_5

Fair Value of Financial Instruments - Schedule of changes in fair value of warrant liabilities (Details) - Warrant Liabilities [Member] $ in Thousands	12 Months Ended
	Dec. 31, 2021USD ($)
Fair value at the beginning	$ 0
Private placement warrants and public warrants	24,338
Exercised warrants	0
Change in fair value	(11,061)
Fair value at the ending	$ 13,277

Income Taxes - Summary of Incom

Income Taxes - Summary of Income Tax Benefits Due to the Losses Incurred (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Domestic	$ (153,426)	$ (57,638)
Foreign	104	45
Total	$ (153,322)	$ (57,593)

Income Taxes - Schedule of Effe

Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Federal statutory rate%	21.00%	21.00%
State rate, net of federal benefit%	7.50%	4.10%
Change in valuation allowance%	(28.00%)	(30.00%)
Tax credits generated%	3.30%	5.90%
Stock-based compensation%	(2.60%)	(2.10%)
Warrant revaluation%	1.50%	1.40%
Permanent differences%	(2.50%)	(0.20%)
Other Items	(0.30%)	0.00%
Effective tax rate%	(0.10%)	0.10%

Income Taxes - Schedule Of Defe

Income Taxes - Schedule Of Deferred Tax Assets And Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Components of Deferred Tax Assets and Liabilities [Abstract]
Federal and state net operating carryforwards	$ 70,569	$ 36,988
Research and development and other credits	13,046	8,000
Stock-based compensation	1,742	240
Deferred revenue	0	228
Other	4,359	1,262
Gross deferred tax assets	89,716	46,718
Valuation allowance	(89,633)	(46,722)
Net deferred tax assets	$ 83	$ (4)

Income Taxes - Additional Infor

Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax [Line Items]
Percentage of increase the ownership of certain shareholders over the three year period	50.00%
Income tax	$ 0	$ 0
Federal Tax Authority [Member]
Income Tax [Line Items]
Operating loss carryforwards	$ 256,600,000	143,200,000
Operating loss carryforwards expiration year	2038
State and Local Jurisdiction [Member]
Income Tax [Line Items]
Operating loss carryforwards	$ 263,200,000	$ 105,800,000
Operating loss carryforwards expiration year	2041
Research Tax Credit Carryforward [Member]
Income Tax [Line Items]
Tax credit carryforward, amount	$ 14,200,000
Tax credit carryforward, expiration year	2041
No Expiry Period [Member] | Federal Tax Authority [Member]
Income Tax [Line Items]
Operating loss carryforwards			$ 215,200,000

Net Loss Per Share Attributab_3

Net Loss Per Share Attributable to Common Shareholders - Additional Information (Details) - USD ($) $ in Thousands, shares in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share Basic [Line Items]
Common stock, conversion basis	one-for-one
Dividends declared or paid	$ 0	$ 0
Warrant [Member]
Earnings Per Share Basic [Line Items]
Antidilutive securities excluded from computation of earnings per share amount	14.8	14.8
Stock Option [Member]
Earnings Per Share Basic [Line Items]
Antidilutive securities excluded from computation of earnings per share amount	29.4	29.4
Restricted Stock [Member]
Earnings Per Share Basic [Line Items]
Antidilutive securities excluded from computation of earnings per share amount	3.9	3.9
Restricted Stock Units (RSUs) [Member]
Earnings Per Share Basic [Line Items]
Antidilutive securities excluded from computation of earnings per share amount	4.9	4.9

Net Loss Per Share Attributab_4

Net Loss Per Share Attributable to Common Shareholders - Schedule of basic and diluted net loss per share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss attributable to common stockholders	$ (153,380)	$ (57,643)
Denominator:
Weighted-average shares used in computing net loss per attributable to common stockholders, basic and diluted	115,301,526	20,885,580
Class A Common Stock [Member]
Numerator:
Net loss attributable to common stockholders	$ (149,960)	$ (57,642)
Denominator:
Weighted-average shares used in computing net loss per attributable to common stockholders, basic and diluted	112,717,964	20,885,580
Net loss per share
Net loss per share attributable to common shareholders, basic and diluted	$ (1.33)	$ (2.76)
Class C Common Stock [Member]
Numerator:
Net loss attributable to common stockholders	$ (3,437)
Denominator:
Weighted-average shares used in computing net loss per attributable to common stockholders, basic and diluted	2,583,562
Net loss per share
Net loss per share attributable to common shareholders, basic and diluted	$ (1.33)

Segment Information - Additiona

Segment Information - Additional Information (Details)	12 Months Ended
	Dec. 31, 2021Segment
Segment Reporting [Abstract]
Number of Business Segment	1

Segment Information - Summary o

Segment Information - Summary of Product by Sales (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Segment Reporting Information [Line Items]
Revenues	$ 50,852	$ 34,835
United States
Segment Reporting Information [Line Items]
Revenues	45,781	25,020
Japan
Segment Reporting Information [Line Items]
Revenues	$ 5,071	$ 9,815

Commitments and Contingencies -

Commitments and Contingencies - Additional Information (Details) $ in Millions	Feb. 29, 2020USD ($)ft²	Feb. 29, 2020USD ($)ft²	Aug. 31, 2019	Feb. 28, 2018	Sep. 30, 2016	Dec. 31, 2021USD ($)	Dec. 31, 2020USD ($)
Other Commitments [Line Items]
Operating leases, rent expense						$ 2	$ 2
Lessee, operating lease, option to terminate						2031
Lexington [Member]
Other Commitments [Line Items]
Lessee, operating lease, term of contract					5 years
Lessee, operating lease, option to extend					The lease has an initial term of approximately five years with the option to extend the term for one additional five-year term.
Lessee, Operating Lease, Existence of Option to Extend [true false]					true
Sublease agreement term				3 years
Sharpsburg [Member]
Other Commitments [Line Items]
Lessee, operating lease, term of contract			5 years 3 months
Lessee, operating lease, option to extend			The lease has an initial term of approximately five years and three months with an option to extend the term for one additional five-year term.
Lessee, Operating Lease, Existence of Option to Extend [true false]			true
Bedford [Member]
Other Commitments [Line Items]
Lessee, operating lease, term of contract	11 years	11 years
Lessee, operating lease, option to extend		The original 11-year lease for approximately 70,748 square feet of combined office and laboratory space is set to expire in 2031, with two options to extend the term for additional periods of five years each.
Lessee, Operating Lease, Existence of Option to Extend [true false]		true
Area of land | ft²	70,748	70,748
Lease incentive receivable	$ 1.4	$ 1.4
Lessee, operating lease, option to terminate	2031
Bedford [Member] | Standby Letters of Credit [Member]
Other Commitments [Line Items]
Debt instrument, collateral amount	$ 1	$ 1

Commitments and Contingencies_2

Commitments and Contingencies - Schedule of Future Minimum Operating Lease Commitments (Details) $ in Thousands	Dec. 31, 2021USD ($)
Commitments and Contingencies Disclosure [Abstract]
2022	$ 1,601
2023	1,462
2024	1,504
2025	1,473
2026	1,287
Thereafter	5,792
Total	$ 13,119
Operating Lease, Liability, Statement of Financial Position [Extensible Enumeration]	Total

Common Stock and Warrants - Add

Common Stock and Warrants - Additional Information (Details) - $ / shares	2 Months Ended	12 Months Ended
	Oct. 31, 2019	Dec. 31, 2021
Class Of Stock [Line Items]
Purchase of warrants		14,750,000
Price per share (in Dollars per share)		$ 10
Private Placement Warrants [Member]
Class Of Stock [Line Items]
Purchase of warrants		5,166,667
Warrant price per share		$ 11.50
Price per share (in Dollars per share)		$ 18
Public Warrant [Member]
Class Of Stock [Line Items]
Purchase of warrants		9,583,333
Warrant price per share		$ 11.50
Common Class A [Member]
Class Of Stock [Line Items]
Conversion of Shares	7,003,261
Warrant price per share		0.10
Price per share (in Dollars per share)		10
Common Class A [Member] | Public Warrant [Member]
Class Of Stock [Line Items]
Warrant price per share		0.01
Price per share (in Dollars per share)		$ 18
RAAC Management LLC | Private Placement Warrants [Member]
Class Of Stock [Line Items]
Purchase of warrants		5,166,667
RAAC Management LLC | Public Warrant [Member]
Class Of Stock [Line Items]
Business acquisition period results included in combined entity		5 years
RAAC Management LLC | Common Class A [Member]
Class Of Stock [Line Items]
Conversion of Shares		5.87585
RAAC Management LLC | Common Class A [Member] | Private Placement Warrants [Member]
Class Of Stock [Line Items]
Warrant price per share		$ 11.50
RAAC Management LLC | Common Class A [Member] | Public Warrant [Member]
Class Of Stock [Line Items]
Purchase of warrants		9,583,333
Warrant price per share		$ 11.50

Common Stock and Warrants - Sch

Common Stock and Warrants - Schedule of Warrants Outstanding (Details)	Dec. 31, 2021$ / sharesshares
Class Of Warrant Or Right [Line Items]
Warrant shares outstanding	14,750,000
Public Warrant [Member]
Class Of Warrant Or Right [Line Items]
Warrant price per share | $ / shares	$ 11.50
Warrant shares outstanding	9,583,333
Private Placement Warrants [Member]
Class Of Warrant Or Right [Line Items]
Warrant price per share | $ / shares	$ 11.50
Warrant shares outstanding	5,166,667