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Condensed Consolidated Statements of Stockholders' Equity - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-In Capital
Accumulated Other Comprehensive Loss
Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2019   42,498,430      
Beginning balance at Dec. 31, 2019 $ 99,000 $ 42 $ 437,976 $ (5,205) $ (333,813)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock under ESPP (in shares)   38,147      
Issuance of common stock under ESPP 699   699    
RSU settlements, net of shares withheld (in shares)   139,552      
RSU settlements, net of shares withheld (1,507)   (1,507)    
Issuance of common stock for services (in shares)   3,091      
Issuance of common stock for services 66   66    
Issuance of common stock for cash upon exercise of stock options (in shares)   44,861      
Issuance of common stock for cash upon exercise of stock options 155   155    
Issuance of common stock for cash upon exercise of warrants (in shares)   295,466      
Issuance of common stock for cash upon exercise of warrants 6,299   6,299    
Employee stock-based compensation expense 4,200   4,200    
Foreign currency translation adjustment (1,705)     (1,705)  
Net loss (5,823)       (5,823)
Ending balance (in shares) at Mar. 31, 2020   43,019,547      
Ending balance at Mar. 31, 2020 101,384 $ 42 447,888 (6,910) (339,636)
Beginning balance (in shares) at Dec. 31, 2020   49,441,166      
Beginning balance at Dec. 31, 2020 277,679 $ 49 632,253 (2,096) (352,527)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common shares, net of commissions and offering costs (in shares)   2,211,538      
Issuance of common shares, net of commissions and offering costs 188,755 $ 2 188,753    
Issuance of common stock under ESPP (in shares)   24,052      
Issuance of common stock under ESPP 838   838    
RSU settlements, net of shares withheld (in shares)   121,447      
RSU settlements, net of shares withheld (2,313)   (2,313)    
Issuance of common stock for services (in shares)   1,339      
Issuance of common stock for services $ 96   96    
Issuance of common stock for cash upon exercise of stock options (in shares) 139,579 139,579      
Issuance of common stock for cash upon exercise of stock options $ 2,193   2,193    
Employee stock-based compensation expense 6,488   6,488    
Foreign currency translation adjustment (1,503)     (1,503)  
Net loss (687)       (687)
Ending balance (in shares) at Mar. 31, 2021   51,939,121      
Ending balance at Mar. 31, 2021 $ 471,546 $ 51 $ 828,308 $ (3,599) $ (353,214)