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Condensed Consolidated Statements of Stockholders' Deficit - USD ($) shares in Thousands, $ in Thousands | Total | At-the-market Offering | June 2020 Note | Facility Financing Obligation | Promissory Notes | Senior Convertible Notes | Common Stock | Common Stock At-the-market Offering | Common Stock June 2020 Note | Common Stock Facility Financing Obligation | Common Stock Promissory Notes | Common Stock Senior Convertible Notes | Additional Paid-in Capital | Additional Paid-in Capital At-the-market Offering | Additional Paid-in Capital June 2020 Note | Additional Paid-in Capital Facility Financing Obligation | Additional Paid-in Capital Promissory Notes | Additional Paid-in Capital Senior Convertible Notes | Accumulated Other Comprehensive Income (Loss) | Accumulated Deficit
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Beginning Balance at Dec. 31, 2018 | $ (175,082) |  |  |  |  |  | $ 1,870 |  |  |  |  |  | $ 2,763,067 |  |  |  |  |  | $ (19) | $ (2,940,000)
Beginning Balance (in shares) at Dec. 31, 2018 |  |  |  |  |  |  | 187,030 |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | 2 |  |  |  |  |  | $ 1 |  |  |  |  |  | 1 |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  | 66 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 317 |  |  |  |  |  | $ 3 |  |  |  |  |  | 314 |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 296 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 999 |  |  |  |  |  |  |  |  |  |  |  | 999 |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  |  |  |  |  | $ 538 |  |  |  |  |  | $ 4 |  |  |  |  |  | $ 534 |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  |  |  |  | 386 |  |  |  |  |  |  |  |
Restricted stock unit award | 105 |  |  |  |  |  |  |  |  |  |  |  | 105 |  |  |  |  |  |  |
Net loss | (14,883) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (14,883)
Ending Balance at Mar. 31, 2019 | (188,004) |  |  |  |  |  | $ 1,878 |  |  |  |  |  | 2,765,020 |  |  |  |  |  | (19) | (2,954,883)
Ending Balance (in shares) at Mar. 31, 2019 |  |  |  |  |  |  | 187,778 |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Dec. 31, 2018 | (175,082) |  |  |  |  |  | $ 1,870 |  |  |  |  |  | 2,763,067 |  |  |  |  |  | (19) | (2,940,000)
Beginning Balance (in shares) at Dec. 31, 2018 |  |  |  |  |  |  | 187,030 |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative translation loss | (1) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (37,640) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Ending Balance at Sep. 30, 2019 | (184,706) |  |  |  |  |  | $ 2,064 |  |  |  |  |  | 2,790,890 |  |  |  |  |  | (20) | (2,977,640)
Ending Balance (in shares) at Sep. 30, 2019 |  |  |  |  |  |  | 206,408 |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Mar. 31, 2019 | (188,004) |  |  |  |  |  | $ 1,878 |  |  |  |  |  | 2,765,020 |  |  |  |  |  | (19) | (2,954,883)
Beginning Balance (in shares) at Mar. 31, 2019 |  |  |  |  |  |  | 187,778 |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | 15 |  |  |  |  |  | $ 1 |  |  |  |  |  | 14 |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  | 101 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 2,568 |  |  |  |  |  |  |  |  |  |  |  | 2,568 |  |  |  |  |  |  |
Issuance of common stock |  | $ 1,850 |  |  |  |  |  | $ 15 |  |  |  |  |  | $ 1,835 |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  | 1,568 |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (41) |  |  |  |  |  |  |  |  |  |  |  | (41) |  |  |  |  |  |  |
Net loss | (12,387) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (12,387)
Ending Balance at Jun. 30, 2019 | (195,999) |  |  |  |  |  | $ 1,894 |  |  |  |  |  | 2,769,396 |  |  |  |  |  | (19) | (2,967,270)
Ending Balance (in shares) at Jun. 30, 2019 |  |  |  |  |  |  | 189,447 |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | 31 |  |  |  |  |  | $ 6 |  |  |  |  |  | 25 |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  | 576 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 339 |  |  |  |  |  | $ 4 |  |  |  |  |  | 335 |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 356 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 1,640 |  |  |  |  |  |  |  |  |  |  |  | 1,640 |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  |  |  | $ 4,575 | $ 8,000 | $ 5,037 |  |  |  | $ 42 | $ 71 | $ 45 |  |  |  | $ 4,533 | $ 7,929 | $ 4,992 |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  |  | 4,193 | 7,143 | 4,525 |  |  |  |  |  |  |  |
Issuance of common stock |  | 188 |  |  |  |  |  | $ 2 |  |  |  |  |  | 186 |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  | 168 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of warrants pursuant to Credit facility | 1,854 |  |  |  |  |  |  |  |  |  |  |  | 1,854 |  |  |  |  |  |  |
Cumulative translation loss | (1) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1) |
Net loss | (10,370) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (10,370)
Ending Balance at Sep. 30, 2019 | (184,706) |  |  |  |  |  | $ 2,064 |  |  |  |  |  | 2,790,890 |  |  |  |  |  | (20) | (2,977,640)
Ending Balance (in shares) at Sep. 30, 2019 |  |  |  |  |  |  | 206,408 |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Dec. 31, 2019 | (190,526) |  |  |  |  |  | $ 2,118 |  |  |  |  |  | 2,799,278 |  |  |  |  |  | (19) | (2,991,903)
Beginning Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  | 211,788 |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | (317) |  |  |  |  |  | $ 5 |  |  |  |  |  | (322) |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  | 504 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 318 |  |  |  |  |  | $ 3 |  |  |  |  |  | 315 |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 334 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 1,128 |  |  |  |  |  |  |  |  |  |  |  | 1,128 |  |  |  |  |  |  |
Issuance of common stock associated with debt interest payment | 144 |  |  |  |  |  | $ 1 |  |  |  |  |  | 143 |  |  |  |  |  |  |
Issuance of common stock associated with debt interest payment (in shares) |  |  |  |  |  |  | 99 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  | 522 |  |  |  |  |  | $ 4 |  |  |  |  |  | 518 |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  | 413 |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (16) |  |  |  |  |  |  |  |  |  |  |  | (16) |  |  |  |  |  |  |
Write-off of cumulative translation loss | 19 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 19 |
Net loss | (9,322) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (9,322)
Ending Balance at Mar. 31, 2020 | (198,050) |  |  |  |  |  | $ 2,131 |  |  |  |  |  | 2,801,044 |  |  |  |  |  |  | (3,001,225)
Ending Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  |  | 213,138 |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Dec. 31, 2019 | (190,526) |  |  |  |  |  | $ 2,118 |  |  |  |  |  | 2,799,278 |  |  |  |  |  | $ (19) | (2,991,903)
Beginning Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  | 211,788 |  |  |  |  |  |  |  |  |  |  |  |  |
Cumulative translation loss | (19) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (30,829) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Ending Balance at Sep. 30, 2020 | (186,420) |  |  |  |  |  | $ 2,309 |  |  |  |  |  | 2,834,003 |  |  |  |  |  |  | (3,022,732)
Ending Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  |  | 230,923 |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Mar. 31, 2020 | (198,050) |  |  |  |  |  | $ 2,131 |  |  |  |  |  | 2,801,044 |  |  |  |  |  |  | (3,001,225)
Beginning Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  |  | 213,138 |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | 117 |  |  |  |  |  | $ 3 |  |  |  |  |  | 114 |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  | 297 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 2,185 |  |  |  |  |  |  |  |  |  |  |  | 2,185 |  |  |  |  |  |  |
Issuance of common stock from the exercise of warrants | 11,600 |  |  |  |  |  | $ 73 |  |  |  |  |  | 11,527 |  |  |  |  |  |  |
Issuance of common stock from the exercise of warrants (in Share) |  |  |  |  |  |  | 7,250 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  |  | $ 2,630 |  |  |  |  |  | $ 12 |  |  |  |  |  | $ 2,618 |  |  |  |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  | 1,235 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  | 12,366 |  |  |  |  |  | $ 75 |  |  |  |  |  | 12,291 |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  | 7,459 |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (320) |  |  |  |  |  |  |  |  |  |  |  | (320) |  |  |  |  |  |  |
Issuance of common stock from market price stock purchase | 14 |  |  |  |  |  |  |  |  |  |  |  | 14 |  |  |  |  |  |  |
Issuance of common stock under Market Price Stock Purchase Plan (in shares) |  |  |  |  |  |  | 10 |  |  |  |  |  |  |  |  |  |  |  |  |
Adjustment of common stock in association with restricted stock units |  |  |  |  |  |  | $ (5) |  |  |  |  |  | 5 |  |  |  |  |  |  |
Adjustment of common stock in association with restricted stock units (in shares) |  |  |  |  |  |  | (461) |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (10,252) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (10,252)
Ending Balance at Jun. 30, 2020 | (179,710) |  |  |  |  |  | $ 2,289 |  |  |  |  |  | 2,829,478 |  |  |  |  |  |  | (3,011,477)
Ending Balance (in shares) at Jun. 30, 2020 |  |  |  |  |  |  | 228,928 |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | 101 |  |  |  |  |  | $ 1 |  |  |  |  |  | 100 |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  | 82 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 366 |  |  |  |  |  | $ 3 |  |  |  |  |  | 363 |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 293 |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 1,294 |  |  |  |  |  |  |  |  |  |  |  | 1,294 |  |  |  |  |  |  |
Issuance of common stock associated with debt interest payment | 144 |  |  |  |  |  | $ 1 |  |  |  |  |  | 143 |  |  |  |  |  |  |
Issuance of common stock associated with debt interest payment (in shares) |  |  |  |  |  |  | 89 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  | $ 2,679 |  |  |  |  |  | $ 15 |  |  |  |  |  | $ 2,664 |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  | 1,531 |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (39) |  |  |  |  |  |  |  |  |  |  |  | (39) |  |  |  |  |  |  |
Net loss | (11,255) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (11,255)
Ending Balance at Sep. 30, 2020 | $ (186,420) |  |  |  |  |  | $ 2,309 |  |  |  |  |  | $ 2,834,003 |  |  |  |  |  |  | $ (3,022,732)
Ending Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  |  | 230,923 |  |  |  |  |  |  |  |  |  |  |  |  |

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