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Condensed Consolidated Statements of Stockholders' Deficit - USD ($) $ in Thousands | Total | Convertible Note Mann Group | June 2020 Note | Convertible Note Interest Mann Group | 2024 Convertible Notes | 2024 Convertible Note Interest | At-the-market Offering | Common Stock | Common Stock Convertible Note Mann Group | Common Stock June 2020 Note | Common Stock Convertible Note Interest Mann Group | Common Stock 2024 Convertible Notes | Common Stock 2024 Convertible Note Interest | Common Stock At-the-market Offering | Additional Paid-in Capital | Additional Paid-in Capital Convertible Note Mann Group | Additional Paid-in Capital June 2020 Note | Additional Paid-in Capital Convertible Note Interest Mann Group | Additional Paid-in Capital 2024 Convertible Notes | Additional Paid-in Capital 2024 Convertible Note Interest | Additional Paid-in Capital At-the-market Offering | Accumulated Other Comprehensive Income (Loss) | Accumulated Deficit
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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 |  |  |  |  |  |  |  | 211,788,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  |  |  |  | 504,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 318 |  |  |  |  |  |  | $ 3 |  |  |  |  |  |  | 315 |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 334,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  |  |  |  | 99,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  |  |  | $ 522 |  |  |  |  |  |  | $ 4 |  |  |  |  |  |  | $ 518 |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 413,000 |  |  |  |  |  |  |  |  |
Issuance cost 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 |  |  |  |  |  |  |  | 213,138,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  | 211,788,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 626,818 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  | 230,923,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Mar. 31, 2020 | (198,050) |  |  |  |  |  |  | $ 2,131 |  |  |  |  |  |  | 2,801,044 |  |  |  |  |  |  |  | (3,001,225)
Beginning Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  |  |  | 213,138,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  |  |  |  | 297,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  |  |  |  | 7,250,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  |  | $ 2,630 |  |  |  |  |  |  | $ 12 |  |  |  |  |  |  | $ 2,618 |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  |  | 1,235,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  |  |  | 12,366 |  |  |  |  |  |  | $ 75 |  |  |  |  |  |  | 12,291 |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 7,459,000 |  |  |  |  |  |  |  |  |
Issuance cost 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) |  |  |  |  |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Adjustment of common stock in association with restricted stock units |  |  |  |  |  |  |  | $ (5) |  |  |  |  |  |  | 5 |  |  |  |  |  |  |  |
Adjustment of common stock in association with restricted stock units (in shares) |  |  |  |  |  |  |  | (461,000) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  | 228,928,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  |  |  |  | 82,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 366 |  |  |  |  |  |  | $ 3 |  |  |  |  |  |  | 363 |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 293,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  |  |  |  | 89,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  |  |  | 2,679 |  |  |  |  |  |  | $ 15 |  |  |  |  |  |  | 2,664 |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,531,000 |  |  |  |  |  |  |  |  |
Issuance cost 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 |  |  |  |  |  |  |  | 230,923,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Dec. 31, 2020 | (180,419) |  |  |  |  |  |  | $ 2,421 |  |  |  |  |  |  | 2,866,303 |  |  |  |  |  |  |  | (3,049,143)
Beginning Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  | 242,118,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | 397 |  |  |  |  |  |  | $ 4 |  |  |  |  |  |  | 393 |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  |  | 390,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 390 |  |  |  |  |  |  | $ 3 |  |  |  |  |  |  | 387 |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 293,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 1,935 |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,935 |  |  |  |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  | $ 9,573 |  | $ 427 | $ 5,000 |  |  |  | $ 38 |  | $ 2 | $ 17 |  |  |  | $ 9,535 |  | $ 425 | $ 4,983 |  |  |  |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  | 3,830,000 |  | 170,000 | 1,667,000 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock pursuant to payoff of the 2024 convertible note interest |  |  |  |  |  | $ 143 |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 143 |  |  |
Issuance of common stock pursuant to payoff of the 2024 convertible note interest (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 27,000 |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  |  |  | $ 1,886 |  |  |  |  |  |  | $ 6 |  |  |  |  |  |  | $ 1,880 |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 578,000 |  |  |  |  |  |  |  |  |
Issuance cost associated with at-the-market offering | (38) |  |  |  |  |  |  |  |  |  |  |  |  |  | (38) |  |  |  |  |  |  |  |
Net loss | (12,916) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (12,916)
Ending Balance at Mar. 31, 2021 | (173,622) |  |  |  |  |  |  | $ 2,491 |  |  |  |  |  |  | 2,885,946 |  |  |  |  |  |  |  | (3,062,059)
Ending Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  |  |  | 249,073,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Dec. 31, 2020 | (180,419) |  |  |  |  |  |  | $ 2,421 |  |  |  |  |  |  | 2,866,303 |  |  |  |  |  |  |  | (3,049,143)
Beginning Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  | 242,118,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 527,049 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (52,865) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Ending Balance at Sep. 30, 2021 | (184,688) |  |  |  |  |  |  | $ 2,502 |  |  |  |  |  |  | 2,914,818 |  |  |  |  |  |  |  | (3,102,008)
Ending Balance (in shares) at Sep. 30, 2021 |  |  |  |  |  |  |  | 250,246,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Beginning Balance at Mar. 31, 2021 | (173,622) |  |  |  |  |  |  | $ 2,491 |  |  |  |  |  |  | 2,885,946 |  |  |  |  |  |  |  | (3,062,059)
Beginning Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  |  |  | 249,073,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | (545) |  |  |  |  |  |  | $ 5 |  |  |  |  |  |  | (550) |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  |  | 520,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 3,926 |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,926 |  |  |  |  |  |  |  |
Premium on Mann Group convertible note | 22,107 |  |  |  |  |  |  |  |  |  |  |  |  |  | 22,107 |  |  |  |  |  |  |  |
Issuance of common stock from market price stock purchase | 106 |  |  |  |  |  |  |  |  |  |  |  |  |  | 106 |  |  |  |  |  |  |  |
Issuance of common stock under Market Price Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 25,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (35,523) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (35,523)
Ending Balance at Jun. 30, 2021 | (183,551) |  |  |  |  |  |  | $ 2,496 |  |  |  |  |  |  | 2,911,535 |  |  |  |  |  |  |  | (3,097,582)
Ending Balance (in shares) at Jun. 30, 2021 |  |  |  |  |  |  |  | 249,618,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units | (590) |  |  |  |  |  |  | $ 4 |  |  |  |  |  |  | (594) |  |  |  |  |  |  |  |
Net issuance of common stock associated with stock options and restricted stock units (in shares) |  |  |  |  |  |  |  | 394,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 700 |  |  |  |  |  |  | $ 2 |  |  |  |  |  |  | 698 |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  |  | 234,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 3,179 |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,179 |  |  |  |  |  |  |  |
Net loss | (4,426) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (4,426)
Ending Balance at Sep. 30, 2021 | $ (184,688) |  |  |  |  |  |  | $ 2,502 |  |  |  |  |  |  | $ 2,914,818 |  |  |  |  |  |  |  | $ (3,102,008)
Ending Balance (in shares) at Sep. 30, 2021 |  |  |  |  |  |  |  | 250,246,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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