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Consolidated Statements of Stockholders' Deficit - USD ($) shares in Thousands, $ in Thousands | Total | Convertible Notes The Mann Group L L C | 2024 Convertible Notes | 2024 Convertible Note Interest | Convertible Note Interest The Mann Group L L C | Common Stock | Common Stock Convertible Notes The Mann Group L L C | Common Stock 2024 Convertible Notes | Common Stock 2024 Convertible Note Interest | Common Stock Convertible Note Interest The Mann Group L L C | Additional Paid-in Capital | Additional Paid-in Capital Convertible Notes The Mann Group L L C | Additional Paid-in Capital 2024 Convertible Notes | Additional Paid-in Capital 2024 Convertible Note Interest | Additional Paid-in Capital Convertible Note Interest The Mann Group L L C | Accumulated Deficit
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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 |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with restricted stock units and stock options | (498) |  |  |  |  | $ 16 |  |  |  |  | (514) |  |  |  |  |
Net issuance of common stock associated with restricted stock units and stock options (in shares) |  |  |  |  |  | 1,572 |  |  |  |  |  |  |  |  |  |
Issuance of common stock under employee stock purchase plan | 1,090 |  |  |  |  | $ 5 |  |  |  |  | 1,085 |  |  |  |  |
Issuance of common stock under employee stock purchase plan (in shares) |  |  |  |  |  | 527 |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 12,200 |  |  |  |  |  |  |  |  |  | 12,200 |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  | $ 9,573 | $ 5,000 |  | $ 427 |  | $ 38 | $ 17 |  | $ 2 |  | $ 9,535 | $ 4,983 |  | $ 425 |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  | 3,830 | 1,667 |  | 170 |  |  |  |  |  |
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 |  |  |  |  |  |  |
Issuance of at-the-market offering | 1,886 |  |  |  |  | $ 6 |  |  |  |  | 1,880 |  |  |  |  |
Issuance of at-the-market offering (in shares) |  |  |  |  |  | 578 |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (38) |  |  |  |  |  |  |  |  |  | (38) |  |  |  |  |
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 from market price stock purchase (in shares) |  |  |  |  |  | 25 |  |  |  |  |  |  |  |  |  |
Issuance of common stock pursuant to a warrant conversion |  |  |  |  |  | $ 10 |  |  |  |  | (10) |  |  |  |  |
Issuance of common stock pursuant to a warrant conversion (shares) |  |  |  |  |  | 964 |  |  |  |  |  |  |  |  |  |
Net loss | (80,926) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (80,926)
Ending Balance at Dec. 31, 2021 | (209,349) |  |  |  |  | $ 2,515 |  |  |  |  | 2,918,205 |  |  |  |  | (3,130,069)
Ending Balance (in shares) at Dec. 31, 2021 |  |  |  |  |  | 251,478 |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with restricted stock units and stock options | 319 |  |  |  |  | $ 22 |  |  |  |  | 297 |  |  |  |  |
Net issuance of common stock associated with restricted stock units and stock options (in shares) |  |  |  |  |  | 2,242 |  |  |  |  |  |  |  |  |  |
Issuance of common stock under employee stock purchase plan | 2,082 |  |  |  |  | $ 6 |  |  |  |  | 2,076 |  |  |  |  |
Issuance of common stock under employee stock purchase plan (in shares) |  |  |  |  |  | 686 |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 13,447 |  |  |  |  |  |  |  |  |  | 13,447 |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  | $ 9,596 |  |  | 674 |  | $ 39 |  |  | $ 2 |  | $ 9,557 |  |  | 672 |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  | 3,838 |  |  | 237 |  |  |  |  |  |
Issuance of at-the-market offering | 19,790 |  |  |  |  | $ 51 |  |  |  |  | 19,739 |  |  |  |  |
Issuance of at-the-market offering (in shares) |  |  |  |  |  | 5,060 |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (381) |  |  |  |  |  |  |  |  |  | (381) |  |  |  |  |
Issuance of common stock from market price stock purchase | 684 |  |  |  |  | $ 3 |  |  |  |  | 681 |  |  |  |  |
Issuance of common stock from market price stock purchase (in shares) |  |  |  |  |  | 252 |  |  |  |  |  |  |  |  |  |
Net loss | (87,400) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (87,400)
Ending Balance at Dec. 31, 2022 | (250,538) |  |  |  |  | $ 2,638 |  |  |  |  | 2,964,293 |  |  |  |  | (3,217,469)
Ending Balance (in shares) at Dec. 31, 2022 |  |  |  |  |  | 263,793 |  |  |  |  |  |  |  |  |  |
Net issuance of common stock associated with restricted stock units and stock options | (10,162) |  |  |  |  | $ 41 |  |  |  |  | (10,203) |  |  |  |  |
Net issuance of common stock associated with restricted stock units and stock options (in shares) |  |  |  |  |  | 4,169 |  |  |  |  |  |  |  |  |  |
Issuance of common stock under employee stock purchase plan | 1,668 |  |  |  |  | $ 5 |  |  |  |  | 1,663 |  |  |  |  |
Issuance of common stock under employee stock purchase plan (in shares) |  |  |  |  |  | 507 |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense | 17,649 |  |  |  |  |  |  |  |  |  | 17,649 |  |  |  |  |
Issuance of common stock pursuant to conversion notes |  |  |  |  | $ 222 |  |  |  |  | $ 1 |  |  |  |  | $ 221 |
Issuance of common stock pursuant to conversion notes (in shares) |  |  |  |  |  |  |  |  |  | 51 |  |  |  |  |  |
Issuance of at-the-market offering | 6,887 |  |  |  |  | $ 15 |  |  |  |  | 6,872 |  |  |  |  |
Issuance of at-the-market offering (in shares) |  |  |  |  |  | 1,478 |  |  |  |  |  |  |  |  |  |
Issuance costs associated with at-the-market offering | (108) |  |  |  |  |  |  |  |  |  | (108) |  |  |  |  |
Issuance of common stock from market price stock purchase | 152 |  |  |  |  |  |  |  |  |  | 152 |  |  |  |  |
Issuance of common stock from market price stock purchase (in shares) |  |  |  |  |  | 36 |  |  |  |  |  |  |  |  |  |
Net loss | (11,938) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (11,938)
Ending Balance at Dec. 31, 2023 | $ (246,168) |  |  |  |  | $ 2,700 |  |  |  |  | $ 2,980,539 |  |  |  |  | $ (3,229,407)
Ending Balance (in shares) at Dec. 31, 2023 |  |  |  |  |  | 270,034 |  |  |  |  |  |  |  |  |  |

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