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Consolidated Statements of Convertible Preferred Stock and Stockholders’ Equity (Deficit) - USD ($)
$ in Thousands
Total
Underwritten Public Offering
Public Offering
Series X Convertible Preferred Stock
Preferred Stock
Series X Convertible Preferred Stock
Preferred Stock
Series X Convertible Preferred Stock
Underwritten Public Offering
Common Stock
Common Stock
Underwritten Public Offering
Common Stock
Public Offering
Additional Paid-In Capital
Additional Paid-In Capital
Underwritten Public Offering
Additional Paid-In Capital
Public Offering
Accumulated Deficit
Balance, beginning (in shares) at Dec. 31, 2021         1,818,472                
Balance, beginning at Dec. 31, 2021 $ 13,104       $ 0   $ 7     $ 398,013     $ (384,916)
Balance, beginning (in shares) at Dec. 31, 2021             67,863,674            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of stock, net of issuance costs (in shares)                 644,265        
Issuance of stock, net of issuance costs     $ 500                 $ 500  
Issuance of common stock for restricted share units vested (in shares)             541,308            
Stock-based compensation 1,165                 1,165      
Net loss (18,474)                       (18,474)
Balance, ending (in shares) at Mar. 31, 2022       1,818,472 1,818,472                
Balance, ending at Mar. 31, 2022 $ (3,705)       $ 0   $ 7     399,678     (403,390)
Balance, ending (in shares) at Mar. 31, 2022 69,049,247           69,049,247            
Balance, beginning (in shares) at Dec. 31, 2021         1,818,472                
Balance, beginning at Dec. 31, 2021 $ 13,104       $ 0   $ 7     398,013     (384,916)
Balance, beginning (in shares) at Dec. 31, 2021             67,863,674            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of common stock under Employee Stock Purchase Plan 69                        
Net loss (34,233)                        
Balance, ending (in shares) at Jun. 30, 2022       1,818,472 1,818,472                
Balance, ending at Jun. 30, 2022 $ (18,543)       $ 0   $ 7     400,599     (419,149)
Balance, ending (in shares) at Jun. 30, 2022 69,238,508           69,238,508            
Balance, beginning (in shares) at Dec. 31, 2021         1,818,472                
Balance, beginning at Dec. 31, 2021 $ 13,104       $ 0   $ 7     398,013     (384,916)
Balance, beginning (in shares) at Dec. 31, 2021             67,863,674            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of common stock under Employee Stock Purchase Plan 69                        
Net loss (19,987)                        
Balance, ending (in shares) at Sep. 30, 2022       1,818,472 1,818,472                
Balance, ending at Sep. 30, 2022 $ (2,247)       $ 0   $ 7     402,649     (404,903)
Balance, ending (in shares) at Sep. 30, 2022 71,181,197           71,181,197            
Balance, beginning (in shares) at Dec. 31, 2021         1,818,472                
Balance, beginning at Dec. 31, 2021 $ 13,104       $ 0   $ 7     398,013     (384,916)
Balance, beginning (in shares) at Dec. 31, 2021             67,863,674            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of stock, net of issuance costs (in shares)                 3,414,926        
Issuance of stock, net of issuance costs     2,370                 2,370  
Issuance of common stock for restricted share units vested (in shares)             828,244            
Issuance of common stock under Employee Stock Purchase Plan (in shares)             363,596            
Issuance of common stock under Employee Stock Purchase Plan 140                 140      
Stock-based compensation 3,532                 3,532      
Issuance costs for underwritten public offering   $ 0                 $ 0    
Net loss (33,584)                       (33,584)
Balance, ending (in shares) at Dec. 31, 2022       1,818,472 1,818,472                
Balance, ending at Dec. 31, 2022 $ (14,438)       $ 0   $ 7     404,055     (418,500)
Balance, ending (in shares) at Dec. 31, 2022 72,470,440           72,470,440            
Balance, beginning (in shares) at Mar. 31, 2022       1,818,472 1,818,472                
Balance, beginning at Mar. 31, 2022 $ (3,705)       $ 0   $ 7     399,678     (403,390)
Balance, beginning (in shares) at Mar. 31, 2022 69,049,247           69,049,247            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of common stock for restricted share units vested (in shares)             5,042            
Issuance of common stock under Employee Stock Purchase Plan (in shares)             184,219            
Issuance of common stock under Employee Stock Purchase Plan $ 69                 69      
Stock-based compensation 852                 852      
Net loss (15,759)                       (15,759)
Balance, ending (in shares) at Jun. 30, 2022       1,818,472 1,818,472                
Balance, ending at Jun. 30, 2022 $ (18,543)       $ 0   $ 7     400,599     (419,149)
Balance, ending (in shares) at Jun. 30, 2022 69,238,508           69,238,508            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of stock, net of issuance costs (in shares)                 1,664,170        
Issuance of stock, net of issuance costs     1,208                 1,208  
Issuance of common stock for restricted share units vested (in shares)             278,519            
Stock-based compensation $ 842                 842      
Net loss 14,246                       14,246
Balance, ending (in shares) at Sep. 30, 2022       1,818,472 1,818,472                
Balance, ending at Sep. 30, 2022 $ (2,247)       $ 0   $ 7     402,649     (404,903)
Balance, ending (in shares) at Sep. 30, 2022 71,181,197           71,181,197            
Balance, beginning (in shares) at Dec. 31, 2022       1,818,472 1,818,472                
Balance, beginning at Dec. 31, 2022 $ (14,438)       $ 0   $ 7     404,055     (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 72,470,440           72,470,440            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of stock, net of issuance costs (in shares)           286,000   11,086,000 6,158,799        
Issuance of stock, net of issuance costs   17,256 8,622         $ 1 $ 1   17,255 8,621  
Issuance of common stock for exercise of stock options (in shares)             16,250            
Issuance of common stock for exercise of stock options $ 14                 14      
Issuance of common stock for restricted share units vested (in shares)             293,073            
Stock-based compensation 640                 640      
Net loss 3,013                       3,013
Balance, ending (in shares) at Mar. 31, 2023       2,104,472 2,104,472                
Balance, ending at Mar. 31, 2023 $ 15,107       $ 0   $ 9     430,585     (415,487)
Balance, ending (in shares) at Mar. 31, 2023 90,024,562           90,024,562            
Balance, beginning (in shares) at Dec. 31, 2022       1,818,472 1,818,472                
Balance, beginning at Dec. 31, 2022 $ (14,438)       $ 0   $ 7     404,055     (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 72,470,440           72,470,440            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of common stock under Employee Stock Purchase Plan $ 63                        
Net loss (10,611)                        
Balance, ending (in shares) at Jun. 30, 2023       2,104,472 2,104,472                
Balance, ending at Jun. 30, 2023 $ 2,417       $ 0   $ 9     431,519     (429,111)
Balance, ending (in shares) at Jun. 30, 2023 90,251,746           90,251,746            
Balance, beginning (in shares) at Dec. 31, 2022       1,818,472 1,818,472                
Balance, beginning at Dec. 31, 2022 $ (14,438)       $ 0   $ 7     404,055     (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 72,470,440           72,470,440            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of common stock under Employee Stock Purchase Plan $ 63                        
Net loss (19,718)                        
Balance, ending (in shares) at Sep. 30, 2023       2,104,472 2,104,472                
Balance, ending at Sep. 30, 2023 $ (5,894)       $ 0   $ 9     432,315     (438,218)
Balance, ending (in shares) at Sep. 30, 2023 90,415,944           90,415,944            
Balance, beginning (in shares) at Dec. 31, 2022       1,818,472 1,818,472                
Balance, beginning at Dec. 31, 2022 $ (14,438)       $ 0   $ 7     404,055     (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 72,470,440           72,470,440            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of stock, net of issuance costs (in shares)           286,000   11,086,000 6,219,741        
Issuance of stock, net of issuance costs   $ 17,256 8,699         $ 1 $ 1   $ 17,255 8,698  
Issuance of common stock for exercise of stock options (in shares) 25,750           25,750            
Issuance of common stock for exercise of stock options $ 21                 21      
Issuance of common stock for restricted share units vested (in shares)             490,520            
Issuance of common stock under Employee Stock Purchase Plan (in shares)             309,548            
Issuance of common stock under Employee Stock Purchase Plan 122                 122      
Stock-based compensation 3,061                 3,061      
Net loss (22,931)                       (22,931)
Balance, ending (in shares) at Dec. 31, 2023       2,104,472 2,104,472                
Balance, ending at Dec. 31, 2023 $ (8,210)       $ 0   $ 9     433,212     (441,431)
Balance, ending (in shares) at Dec. 31, 2023 90,601,999           90,601,999            
Balance, beginning (in shares) at Mar. 31, 2023       2,104,472 2,104,472                
Balance, beginning at Mar. 31, 2023 $ 15,107       $ 0   $ 9     430,585     (415,487)
Balance, beginning (in shares) at Mar. 31, 2023 90,024,562           90,024,562            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of stock, net of issuance costs (in shares)                 60,942        
Issuance of stock, net of issuance costs     $ 76                 $ 76  
Issuance of common stock for restricted share units vested (in shares)             4,875            
Issuance of common stock under Employee Stock Purchase Plan (in shares)             161,367            
Issuance of common stock under Employee Stock Purchase Plan $ 63                 63      
Stock-based compensation 795                 795      
Net loss (13,624)                       (13,624)
Balance, ending (in shares) at Jun. 30, 2023       2,104,472 2,104,472                
Balance, ending at Jun. 30, 2023 $ 2,417       $ 0   $ 9     431,519     (429,111)
Balance, ending (in shares) at Jun. 30, 2023 90,251,746           90,251,746            
Increase (Decrease) in Stockholders' Equity [Roll Forward]                          
Issuance of common stock for restricted share units vested (in shares)             164,198            
Stock-based compensation $ 796                 796      
Net loss (9,107)                       (9,107)
Balance, ending (in shares) at Sep. 30, 2023       2,104,472 2,104,472                
Balance, ending at Sep. 30, 2023 $ (5,894)       $ 0   $ 9     $ 432,315     $ (438,218)
Balance, ending (in shares) at Sep. 30, 2023 90,415,944           90,415,944