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Condensed Consolidated Statements of Stockholders’ Deficit - USD ($) $ in Thousands | Total | Lincoln Park Purchase Agreement | At-the-Market Offering | Common stock | Common stock Lincoln Park Purchase Agreement | Common stock At-the-Market Offering | Additional paid-in capital | Additional paid-in capital Lincoln Park Purchase Agreement | Additional paid-in capital At-the-Market Offering | Accumulated deficit | Accumulated other comprehensive loss
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Beginning balance (in shares) at Dec. 31, 2022 |  |  |  | 113,335,530 |  |  |  |  |  |  |
Beginning balance at Dec. 31, 2022 | $ (29,463) |  |  | $ 11 |  |  | $ 381,274 |  |  | $ (400,346) | $ (10,402)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement (in shares) |  |  |  | 39,487,104 |  |  |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement | 61,346 |  |  | $ 4 |  |  | 61,342 |  |  |  |
Issuance of common stock in connection with the Employee Stock Purchase Plan (in shares) |  |  |  | 226,453 |  |  |  |  |  |  |
Issuance of common stock in connection with the Employee Stock Purchase Plan | 273 |  |  |  |  |  | 273 |  |  |  |
Exercise of stock options (in shares) |  |  |  | 2,239,676 |  |  |  |  |  |  |
Exercise of stock options | 1,890 |  |  |  |  |  | 1,890 |  |  |  |
Stock-based compensation | 17,362 |  |  |  |  |  | 17,362 |  |  |  |
Short-swing profit settlement | 244 |  |  |  |  |  | 244 |  |  |  |
Foreign currency translation adjustment, net of tax | (70) |  |  |  |  |  |  |  |  |  | (70)
Net loss | (66,701) |  |  |  |  |  |  |  |  | (66,701) |
Ending balance (in shares) at Sep. 30, 2023 |  |  |  | 155,288,763 |  |  |  |  |  |  |
Ending balance at Sep. 30, 2023 | (15,119) |  |  | $ 15 |  |  | 462,385 |  |  | (467,047) | (10,472)
Beginning balance (in shares) at Jun. 30, 2023 |  |  |  | 128,028,658 |  |  |  |  |  |  |
Beginning balance at Jun. 30, 2023 | (51,531) |  |  | $ 12 |  |  | 409,885 |  |  | (450,941) | (10,487)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement (in shares) |  |  |  | 26,247,450 |  |  |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement | 45,663 |  |  | $ 3 |  |  | 45,660 |  |  |  |
Issuance of common stock in connection with the Employee Stock Purchase Plan (in shares) |  |  |  | 226,453 |  |  |  |  |  |  |
Issuance of common stock in connection with the Employee Stock Purchase Plan | 273 |  |  |  |  |  | 273 |  |  |  |
Exercise of stock options (in shares) |  |  |  | 786,202 |  |  |  |  |  |  |
Exercise of stock options | 683 |  |  |  |  |  | 683 |  |  |  |
Stock-based compensation | 5,884 |  |  |  |  |  | 5,884 |  |  |  |
Foreign currency translation adjustment, net of tax | 15 |  |  |  |  |  |  |  |  |  | 15
Net loss | (16,106) |  |  |  |  |  |  |  |  | (16,106) |
Ending balance (in shares) at Sep. 30, 2023 |  |  |  | 155,288,763 |  |  |  |  |  |  |
Ending balance at Sep. 30, 2023 | $ (15,119) |  |  | $ 15 |  |  | 462,385 |  |  | (467,047) | (10,472)
Beginning balance (in shares) at Dec. 31, 2023 | 161,113,744 |  |  | 161,113,744 |  |  |  |  |  |  |
Beginning balance at Dec. 31, 2023 | $ (24,481) |  |  | $ 16 |  |  | 469,081 |  |  | (483,061) | (10,517)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement (in shares) |  |  |  |  | 25,569,997 | 19,337,124 |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement |  | $ 32,187 | $ 20,688 |  | $ 2 | $ 2 |  | $ 32,185 | $ 20,686 |  |
Issuance of common stock in connection with the Employee Stock Purchase Plan (in shares) |  |  |  | 262,777 |  |  |  |  |  |  |
Issuance of common stock in connection with the Employee Stock Purchase Plan | 171 |  |  |  |  |  | 171 |  |  |  |
Issuance of common stock in connection with exercise of stock options and vesting of RSUs (in shares) |  |  |  | 1,679,951 |  |  |  |  |  |  |
Issuance of common stock in connection with exercise of stock options and vesting of RSUs | $ 84 |  |  |  |  |  | 84 |  |  |  |
Exercise of stock options (in shares) | 93,973 |  |  |  |  |  |  |  |  |  |
Stock-based compensation | $ 13,790 |  |  |  |  |  | 13,790 |  |  |  |
Tax withholding related to vesting of restricted stock units | (1,470) |  |  |  |  |  | (1,470) |  |  |  |
Foreign currency translation adjustment, net of tax | (82) |  |  |  |  |  |  |  |  |  | (82)
Net loss | $ (57,802) |  |  |  |  |  |  |  |  | (57,802) |
Ending balance (in shares) at Sep. 30, 2024 | 207,963,593 |  |  | 207,963,593 |  |  |  |  |  |  |
Ending balance at Sep. 30, 2024 | $ (16,915) |  |  | $ 20 |  |  | 534,527 |  |  | (540,863) | (10,599)
Beginning balance (in shares) at Jun. 30, 2024 |  |  |  | 186,073,087 |  |  |  |  |  |  |
Beginning balance at Jun. 30, 2024 | (21,514) |  |  | $ 18 |  |  | 507,067 |  |  | (518,151) | (10,448)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement (in shares) |  |  |  |  | 10,621,447 | 11,058,026 |  |  |  |  |
Issuance of common stock in connection with the Lincoln Park Purchase Agreement |  | $ 11,899 | $ 11,587 |  | $ 1 | $ 1 |  | $ 11,898 | $ 11,586 |  |
Issuance of common stock in connection with exercise of stock options and vesting of RSUs (in shares) |  |  |  | 211,033 |  |  |  |  |  |  |
Issuance of common stock in connection with exercise of stock options and vesting of RSUs | 41 |  |  |  |  |  | 41 |  |  |  |
Stock-based compensation | 4,054 |  |  |  |  |  | 4,054 |  |  |  |
Tax withholding related to vesting of restricted stock units | (119) |  |  |  |  |  | (119) |  |  |  |
Foreign currency translation adjustment, net of tax | (151) |  |  |  |  |  |  |  |  |  | (151)
Net loss | $ (22,712) |  |  |  |  |  |  |  |  | (22,712) |
Ending balance (in shares) at Sep. 30, 2024 | 207,963,593 |  |  | 207,963,593 |  |  |  |  |  |  |
Ending balance at Sep. 30, 2024 | $ (16,915) |  |  | $ 20 |  |  | $ 534,527 |  |  | $ (540,863) | $ (10,599)

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