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Consolidated Statements of Redeemable Convertible Preferred Stock And Stockholders’ Equity (Deficit) - USD ($)
shares in Thousands, $ in Thousands
Total
Common Stock
Additional Paid-in Capital
Accumulated Other Comprehensive Gain (Loss)
Accumulated Deficit
Balance at the beginning of the period (in shares) at Dec. 31, 2020 25,402        
Balance at the beginning of the period at Dec. 31, 2020 $ 243,854        
Redeemable Convertible Preferred Stock          
Issuance of redeemable convertible preferred stock, net of issuance costs (in shares) 4,448        
Issuance of redeemable convertible preferred stock, net of issuance costs $ 84,710        
Issuance upon exercise of warrants (in shares) 62        
Issuance upon exercise of warrants $ 970        
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares) (29,912)        
Conversion of redeemable convertible preferred stock to common stock upon initial public offering $ (329,534)        
Balance at the end f the period (in shares) at Dec. 31, 2021 0        
Balance at the end of the period at Dec. 31, 2021 $ 0        
Balance at the beginning of the period (in shares) at Dec. 31, 2020   4,713      
Balance at the beginning of the period at Dec. 31, 2020 (182,894) $ 0 $ 18,788 $ (14) $ (201,668)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)   29,912      
Conversion of redeemable convertible preferred stock to common stock upon initial public offering 329,534   329,534    
Issuance of common stock upon initial public offering, net of underwriting discounts, commission and offering expenses (in shares)   7,539      
Issuance of common stock upon initial public offering, net of underwriting discounts, commission and offering expenses of $16,121 172,364   172,364    
Issuance of common stock under stock plans (in shares)   1,512      
Issuance of common stock under stock plans 4,184   4,184    
Stock-based compensation expense 3,796   3,796    
Unrealized gain (loss) on cash equivalents (40)     (40)  
Net loss (59,853)       (59,853)
Balance at the end of the period (in shares) at Dec. 31, 2021   43,676      
Balance at the end of the period at Dec. 31, 2021 267,091 $ 0 528,666 (54) (261,521)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock under stock plans (in shares)   1,152      
Issuance of common stock under stock plans 6,417   6,417    
Stock-based compensation expense 10,670   10,670    
Unrealized gain (loss) on cash equivalents 48     48  
Net loss (87,154)       (87,154)
Balance at the end of the period (in shares) at Dec. 31, 2022   44,828      
Balance at the end of the period at Dec. 31, 2022 $ 197,072 $ 0 545,753 (6) (348,675)
Balance at the end f the period (in shares) at Dec. 31, 2023 0        
Balance at the end of the period at Dec. 31, 2023 $ 0        
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon initial public offering, net of underwriting discounts, commission and offering expenses (in shares)   5,085      
Issuance of common stock upon initial public offering, net of underwriting discounts, commission and offering expenses of $16,121 161,705   161,705    
Issuance of common stock under stock plans (in shares)   858      
Issuance of common stock under stock plans 6,090   6,090    
Stock-based compensation expense 21,692   21,692    
Unrealized gain (loss) on cash equivalents 90     90  
Net loss $ (105,897)       (105,897)
Balance at the end of the period (in shares) at Dec. 31, 2023 50,771 50,771      
Balance at the end of the period at Dec. 31, 2023 $ 280,752 $ 0 $ 735,240 $ 84 $ (454,572)