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Consolidated Statements of Stockholders' Deficit - USD ($) $ in Thousands | Total | Public Offering | At-the-market Offering | At-The-Market-Placement | Note Payable to Related Party | Senior Convertible Notes | Facility Financing Obligation | Promissory notes Mann Group | Common Stock | Common Stock Public Offering | Common Stock At-the-market Offering | Common Stock At-The-Market-Placement | Common Stock Note Payable to Related Party | Common Stock Senior Convertible Notes | Common Stock Facility Financing Obligation | Common Stock Promissory notes Mann Group | Additional Paid-in Capital | Additional Paid-in Capital Public Offering | Additional Paid-in Capital At-the-market Offering | Additional Paid-in Capital At-The-Market-Placement | Additional Paid-in Capital Note Payable to Related Party | Additional Paid-in Capital Senior Convertible Notes | Additional Paid-in Capital Facility Financing Obligation | Additional Paid-in Capital Promissory notes Mann Group | Accumulated Other Comprehensive Income (Loss) | Accumulated Deficit
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Beginning Balance at Dec. 31, 2017 | $ (214,732) |  |  |  |  |  |  |  | $ 1,192 |  |  |  |  |  |  |  | $ 2,638,992 |  |  |  |  |  |  |  | $ (18) | $ (2,854,898)
Beginning Balance (in shares) at Dec. 31, 2017 |  |  |  |  |  |  |  |  | 119,053,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise of stock options | 7 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 7 |  |  |  |  |  |  |  |  |
Exercise of stock options (in shares) |  |  |  |  |  |  |  |  | 7,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock from the release of restricted stock units | 1 |  |  |  |  |  |  |  | $ 2 |  |  |  |  |  |  |  | (1) |  |  |  |  |  |  |  |  |
Issuance of common stock from the release of restricted stock units (in shares) |  |  |  |  |  |  |  |  | 193,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 345 |  |  |  |  |  |  |  | $ 3 |  |  |  |  |  |  |  | 342 |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  |  | 400,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 6,857 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6,857 |  |  |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  |  |  |  | $ 8,160 | $ 4,980 | $ 38,128 |  |  |  |  |  | $ 30 | $ 27 | $ 197 |  |  |  |  |  | $ 8,130 | $ 4,953 | $ 37,931 |  |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 3,000,000 | 2,726,000 | 19,726,000 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock — direct placement | 28,000 |  |  |  |  |  |  |  | $ 140 |  |  |  |  |  |  |  | 27,860 |  |  |  |  |  |  |  |  |
Issuance of common stock — direct placement |  |  |  |  |  |  |  |  | 14,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs associated with direct placement | (1,610) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1,610) |  |  |  |  |  |  |  |  |
Issuance of common stock |  | $ 40,000 |  | $ 2,089 |  |  |  |  |  | $ 267 |  | $ 10 |  |  |  |  |  | $ 39,733 |  | $ 2,079 |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  | 26,667,000 |  | 1,028,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance cost associated with public offering | (2,538) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (2,538) |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market placement | (84) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (84) |  |  |  |  |  |  |  |  |
Issuance of common stock under Market Price Stock Purchase Plan | 430 |  |  |  |  |  |  |  | $ 2 |  |  |  |  |  |  |  | 428 |  |  |  |  |  |  |  |  |
Issuance of common stock under Market Price Stock Purchase Plan (in shares) |  |  |  |  |  |  |  |  | 230,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Amortization of shelf fees | (12) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (12) |  |  |  |  |  |  |  |  |
Cumulative translation (loss) gain | (1) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1) |
Adjustment to adopt ASU 2014-09 (Topic 606) | Topic 606 | 1,873 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,873
Net loss | (86,975) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (86,975)
Ending Balance at Dec. 31, 2018 | (175,082) |  |  |  |  |  |  |  | $ 1,870 |  |  |  |  |  |  |  | 2,763,067 |  |  |  |  |  |  |  | (19) | (2,940,000)
Ending Balance (in shares) at Dec. 31, 2018 |  |  |  |  |  |  |  |  | 187,030,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise of stock options | $ 124 |  |  |  |  |  |  |  | $ 1 |  |  |  |  |  |  |  | 123 |  |  |  |  |  |  |  |  |
Exercise of stock options (in shares) | 67,461 |  |  |  |  |  |  |  | 68,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock from the release of restricted stock units | $ (2) |  |  |  |  |  |  |  | $ 7 |  |  |  |  |  |  |  | (9) |  |  |  |  |  |  |  |  |
Issuance of common stock from the release of restricted stock units (in shares) |  |  |  |  |  |  |  |  | 705,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 656 |  |  |  |  |  |  |  | $ 7 |  |  |  |  |  |  |  | 649 |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  |  | 653,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 6,203 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6,203 |  |  |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes | 4,575 |  |  |  |  | $ 5,575 |  | $ 8,000 | $ 42 |  |  |  |  | $ 49 |  | $ 71 | 4,533 |  |  |  |  | $ 5,526 |  | $ 7,929 |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  | 4,193,000 |  |  |  |  | 4,911,000 |  | 7,143,000 |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  | $ 3,199 |  |  |  |  |  |  |  | $ 26 |  |  |  |  |  |  |  | $ 3,173 |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  |  | 2,585,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market placement | (60) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (60) |  |  |  |  |  |  |  |  |
Issuance of warrants pursuant to MidCap Credit Facility | 1,854 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,854 |  |  |  |  |  |  |  |  |
Issuance of common stock from the exercise of warrants | 5,900 |  |  |  |  |  |  |  | $ 45 |  |  |  |  |  |  |  | 5,855 |  |  |  |  |  |  |  |  |
Issuance of common stock from the exercise of warrants (in Share) |  |  |  |  |  |  |  |  | 4,500,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant modification | 688 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 688 |  |  |  |  |  |  |  |  |
Repurchase of warrants | (253) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (253) |  |  |  |  |  |  |  |  |
Net loss | (51,903) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (51,903)
Ending Balance at Dec. 31, 2019 | $ (190,526) |  |  |  |  |  |  |  | $ 2,118 |  |  |  |  |  |  |  | $ 2,799,278 |  |  |  |  |  |  |  | $ (19) | $ (2,991,903)
Ending Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  |  |  | 211,788,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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