If you're interested in being a Mirai owner, first you'll need to answer a few questions online. Then, a Toyota representative will call you to make sure you're the right kind of person (most important: do you live by one of the few H2 pumps in California?) and only then will you be able to place an order. Numbers are limited, the video says, but, "the excitement around hydrogen is so high, we'll be building more in the years to come." Toyota has said it only wants to sell 3,000 Mirais in the US by the end of 2017.
The Mirai costs $57,500 and Toyota has been talking about federal and state tax incentives that could drip that price to under $45,000,. The problem, of course, is that the federal tax hydrogen car incentive expired in December. That's why Toyota is asking the government to bring the incentive back. The Mirai will also be available for a $499-a-month lease (36 months, $3,649 due at signing). Whether you lease or buy, you get free hydrogen fuel for "up to three years."
The video above has more information. If you want to order a Mirai, make sure to check this link on July 20.