The dynamics of the boundary layer in between two distinct collisionless plasmas created by the interaction between a dense object modeling a cluster and a short laser pulse in the presence of an ambient gas is studied with two dimensional relativistic particle-in-cell simulations, which are found to be described by three successive processes. In the first phase, a collisionless electrostatic shock wave, launched near the cluster expansion front, reflects the ambient gas ions at a contact surface as a moving wall, which allows a particle acceleration with a narrower energy spread. In the second phase, the contact surface disappears and the compressed surface of the ambient gas ions passes over the shock potential, forming an overlapping region between the cluster expansion front and the compressed surface of the ambient gas. Here, another type of nonlinear wave is found to be evolved, leading to a relaxation of the shock structure, while continuing to reflect the ambient gas ions. The nonlinear wave exhibits a bipolar electric field structure that is sustained for a long timescale coupled with slowly evolving ion dynamics, suggesting that a quasistationary kinetic equilibrium dominated by electron vortices in the phase space is established. In the third phase, a rarefaction wave is triggered and evolves at the compressed surface of ambient gas. This is because some of the ambient gas ions tend to pass over the potential of the bipolar electric field. Simultaneously, a staircase structure, i.e., a kind of internal shock, is formed in the cluster due to the deceleration of cluster ions. Such structure formations and successive dynamics accompanied by the transitions from the shock wave phase through the overlapping phase to the rarefaction wave phase are considered to be a unique nature at the boundary layer created by an explosion of a dense plasma object in an ambient dilute plasma.