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Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands | Common Stock At-the-market offering | Common Stock | Additional Paid-In Capital At-the-market offering | Additional Paid-In Capital | Accumulated Other Comprehensive Gain (Loss) | Accumulated Deficit | At-the-market offering | Total
--- | --- | --- | --- | --- | --- | --- | --- | ---
Balance, Beginning at Dec. 31, 2017 |  |  |  | $ 222,188 | $ (6) | $ (101,550) |  | $ 120,632
Balance, Beginning (in shares) at Dec. 31, 2017 |  | 21,088,306 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  | $ 1,508 |  |  |  | $ 1,508 |
Issuance of common stock, net of issuance costs (in shares) | 151,273 |  |  |  |  |  |  |
Issuance of common stock and warrants upon private placement, net of issuance costs |  |  |  | 21,673 |  |  |  | 21,673
Issuance of common stock and warrants upon private placement, net of issuance costs (in shares) |  | 2,750,000 |  |  |  |  |  |
Issuance of common stock upon under equity incentive and employee stock purchase plans |  |  |  | 934 |  |  |  | 934
Issuance of common stock upon under equity incentive and employee stock purchase plans (in shares) |  | 197,640 |  |  |  |  |  |
Retirement of common stock in exchange for common stock warrant |  |  |  | (6,670) |  |  |  | (6,670)
Retirement of common stock in exchange for common stock warrant (in shares) |  | (1,000,000) |  |  |  |  |  |
Issuance of common stock warrant in exchange for retirement of common stock |  |  |  | 6,670 |  |  |  | 6,670
Stock-based compensation expense |  |  |  | 6,919 |  |  |  | 6,919
Other comprehensive gain (loss) |  |  |  |  | (227) |  |  | (227)
Net loss |  |  |  |  |  | (38,924) |  | (38,924)
Balance, Ending at Dec. 31, 2018 |  |  |  | 253,222 | (233) | (140,474) |  | 112,515
Balance, Ending (in shares) at Dec. 31, 2018 |  | 23,187,219 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  | 34,492 |  |  |  | 34,492 |
Issuance of common stock, net of issuance costs (in shares) | 2,846,641 |  |  |  |  |  |  |
Issuance of common stock upon under equity incentive and employee stock purchase plans |  |  |  | 1,779 |  |  |  | 1,779
Issuance of common stock upon under equity incentive and employee stock purchase plans (in shares) |  | 583,792 |  |  |  |  |  |
Issuance of common stock upon exercise of Exchange Warrants (in shares) |  | 599,997 |  |  |  |  |  |
Stock-based compensation expense |  |  |  | 8,353 |  |  |  | 8,353
Other comprehensive gain (loss) |  |  |  |  | 12 |  |  | 12
Net loss |  |  |  |  |  | (77,187) |  | (77,187)
Balance, Ending at Dec. 31, 2019 |  |  |  | 297,846 | (221) | (217,661) |  | $ 79,964
Balance, Ending (in shares) at Dec. 31, 2019 |  | 27,217,649 |  |  |  |  |  | 27,217,649
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs |  |  | $ 41,871 | 212,974 |  |  | $ 41,871 | $ 212,974
Issuance of common stock, net of issuance costs (in shares) | 2,483,719 | 13,526,189 |  |  |  |  |  |
Issuance of common stock upon under equity incentive and employee stock purchase plans |  |  |  | 2,799 |  |  |  | 2,799
Issuance of common stock upon under equity incentive and employee stock purchase plans (in shares) |  | 517,908 |  |  |  |  |  |
Stock-based compensation expense |  |  |  | 7,899 |  |  |  | 7,899
Other comprehensive gain (loss) |  |  |  |  | 249 |  |  | 249
Net loss |  |  |  |  |  | (66,150) |  | (66,150)
Balance, Ending at Dec. 31, 2020 |  |  |  | $ 563,389 | $ 28 | $ (283,811) |  | $ 279,606
Balance, Ending (in shares) at Dec. 31, 2020 |  | 43,745,465 |  |  |  |  |  | 43,745,465

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