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CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS’ EQUITY - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-in- Capital
Accumulated Deficit
Accumulated other comprehensive loss
Beginning balance (in shares) at Dec. 31, 2022   18,658,799      
Beginning balance at Dec. 31, 2022 $ 171,619 $ 19 $ 613,665 $ (441,916) $ (149)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon exercise of stock options (in shares)   10,007      
Issuance of common stock upon exercise of stock options 18   18    
Issuance of common stock upon Velodyne Merger (in shares)   19,483,269      
Issuance of common stock upon Velodyne Merger 306,602 $ 20 306,582    
Issuance of common stock upon vesting of restricted stock (in shares)   568,675      
Repurchase of common stock (in shares)   (3,753)      
Stock-based compensation expense 21,780   21,780    
Vesting of early exercised stock options 27   27    
Net loss (177,280)     (177,280)  
Other Comprehensive loss (30)       (30)
Ending balance (in shares) at Mar. 31, 2023   38,716,997      
Ending balance at Mar. 31, 2023 322,736 $ 39 942,072 (619,196) (179)
Beginning balance (in shares) at Dec. 31, 2022   18,658,799      
Beginning balance at Dec. 31, 2022 171,619 $ 19 613,665 (441,916) (149)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Net loss (300,013)        
Ending balance (in shares) at Jun. 30, 2023   39,320,715      
Ending balance at Jun. 30, 2023 216,991 $ 39 959,111 (741,929) (230)
Beginning balance (in shares) at Mar. 31, 2023   38,716,997      
Beginning balance at Mar. 31, 2023 322,736 $ 39 942,072 (619,196) (179)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Common Stock adjustment reflected as a result of the one-for-10 reverse stock split effectuated on April 6, 2023 (in shares)   85,893      
Issuance of common stock upon exercise of stock options (in shares)   69,080      
Issuance of common stock upon exercise of stock options 131   131    
Issuance of common stock upon vesting of restricted stock (in shares)   385,865      
Issuance of common stock to employees under employee stock purchase plan (in shares)   62,880      
Issuance of common stock to employees under employee stock purchase plan 310   310    
Common stock warrants issuable to customer 61   61    
Stock-based compensation expense 16,466   16,466    
Vesting of early exercised stock options 71   71    
Net loss (122,733)     (122,733)  
Other Comprehensive loss (51)       (51)
Ending balance (in shares) at Jun. 30, 2023   39,320,715      
Ending balance at Jun. 30, 2023 $ 216,991 $ 39 959,111 (741,929) (230)
Beginning balance (in shares) at Dec. 31, 2023 43,257,863 43,257,863      
Beginning balance at Dec. 31, 2023 $ 179,672 $ 42 995,464 (816,026) 192
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon exercise of stock options (in shares)   54,374      
Issuance of common stock upon exercise of stock options 108   108    
Issuance of restricted stock awards (in shares)   533,601      
Issuance of restricted stock awards 1 $ 1      
Proceeds from at-the-market offering, net of commissions and fees (in shares)   343,571      
Proceeds from at-the-market offering, net of commissions and fees 2,331   2,331    
Issuance of common stock upon Velodyne Merger (in shares)   29,376      
Issuance of common stock upon vesting of restricted stock (in shares)   759,919      
Issuance of common stock upon vesting of restricted stock 1 $ 1      
Common stock warrants issuable to customer 195   195    
Stock-based compensation expense 9,404   9,404    
Net loss (23,849)     (23,849)  
Other Comprehensive loss (631)       (631)
Ending balance (in shares) at Mar. 31, 2024   44,978,704      
Ending balance at Mar. 31, 2024 167,232 $ 44 1,007,502 (839,875) (439)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Commissions and fees $ 72        
Beginning balance (in shares) at Dec. 31, 2023 43,257,863 43,257,863      
Beginning balance at Dec. 31, 2023 $ 179,672 $ 42 995,464 (816,026) 192
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon exercise of stock options (in shares) 76,860        
Net loss $ (47,718)        
Ending balance (in shares) at Jun. 30, 2024 47,167,305 47,167,305      
Ending balance at Jun. 30, 2024 $ 170,610 $ 44 1,035,087 (863,744) (777)
Beginning balance (in shares) at Mar. 31, 2024   44,978,704      
Beginning balance at Mar. 31, 2024 167,232 $ 44 1,007,502 (839,875) (439)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon exercise of stock options (in shares)   22,486      
Issuance of common stock upon exercise of stock options 42   42    
Proceeds from at-the-market offering, net of commissions and fees (in shares)   1,489,300      
Proceeds from at-the-market offering, net of commissions and fees 15,774   15,774    
Issuance of common stock upon Velodyne Merger (in shares)   181,840      
Issuance of common stock upon vesting of restricted stock (in shares)   310,896      
Issuance of common stock to employees under employee stock purchase plan (in shares)   184,079      
Issuance of common stock to employees under employee stock purchase plan 781   781    
Common stock warrants issuable to customer 293   293    
Stock-based compensation expense 10,695   10,695    
Net loss (23,869)     (23,869)  
Other Comprehensive loss $ (338)       (338)
Ending balance (in shares) at Jun. 30, 2024 47,167,305 47,167,305      
Ending balance at Jun. 30, 2024 $ 170,610 $ 44 $ 1,035,087 $ (863,744) $ (777)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Commissions and fees $ 492