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Condensed Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($)
$ in Thousands
Convertible Preferred Stock
Series A Convertible Preferred Stock
Additional Paid-in Capital
Series A Convertible Preferred Stock
Accumulated Deficit
Series A Convertible Preferred Stock
Series B Convertible Preferred Stock
Series C Convertible Preferred Stock
Common Stock
Additional Paid-in Capital
Accumulated Other Comprehensive Loss
Accumulated Deficit
Total
Balances, at Beginning of period at Dec. 31, 2019               $ 168   $ (10,762) $ (10,594)
Balances, at Beginning of period (in shares) at Dec. 31, 2019             2,593,316        
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Beneficial conversion option recognized upon issuance of 2020 convertible notes               1,054     1,054
Beneficial conversion option recognized upon repurchase of 2020 convertible notes on settlement date               (2,568)     (2,568)
Extinguishment of 2020 convertible notes               2,148     2,148
Repurchase and retirement of convertible preferred stock   $ (1,658) $ (211) $ (1,869)              
Exercise of stock options               120     120
Exercise of stock options (in shares)             239,055        
Vesting of restricted stock awards (in shares)             26,901        
Stock-based compensation expense               736     736
Net loss                   (11,990) (11,990)
Balances, at End of period at Sep. 30, 2020                   (22,963) (22,963)
Balances, at End of period (in shares) at Sep. 30, 2020             2,859,272        
Balances, at Beginning of period at Dec. 31, 2019 $ 9,348                    
Balances, at Beginning of period (in shares) at Dec. 31, 2019 4,628,215                    
Increase (Decrease) in Temporary Equity [Roll Forward]                      
Issuance of convertible preferred stock, net of issuance costs         $ 50,637 $ 85,801          
Issuance of convertible preferred stock, net of issuance cost (in shares)         10,801,277 7,904,135          
Repurchase and retirement of convertible preferred stock       $ (420)              
Repurchase and retirement of convertible preferred stock (in shares)       (206,821)              
Issuance of Series B convertible preferred stock in connection with the conversion of convertible notes         $ 3,007            
Issuance of Series B convertible preferred stock in connection with the conversion of convertible notes (in shares)         638,270            
Balances, at End of period (in shares) at Sep. 30, 2020 23,765,075                    
Balances, at End of period at Sep. 30, 2020 $ 148,373                    
Balances, at Beginning of period at Jun. 30, 2020               956   (14,908) (13,952)
Balances, at Beginning of period (in shares) at Jun. 30, 2020             2,593,316        
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Repurchase and retirement of convertible preferred stock   $ 1,658 $ 211 $ (1,869)              
Exercise of stock options               120     120
Exercise of stock options (in shares)             239,055        
Vesting of restricted stock awards (in shares)             26,901        
Stock-based compensation expense               582     582
Net loss                   (7,844) (7,844)
Balances, at End of period at Sep. 30, 2020                   (22,963) (22,963)
Balances, at End of period (in shares) at Sep. 30, 2020             2,859,272        
Balances, at Beginning of period at Jun. 30, 2020 $ 63,004                    
Balances, at Beginning of period (in shares) at Jun. 30, 2020 16,067,762                    
Increase (Decrease) in Temporary Equity [Roll Forward]                      
Issuance costs of Series B convertible stocks         $ (12)            
Issuance of convertible preferred stock, net of issuance costs           $ 85,801          
Issuance of convertible preferred stock, net of issuance cost (in shares)           7,904,135          
Repurchase and retirement of convertible preferred stock       $ (420)              
Repurchase and retirement of convertible preferred stock (in shares)       (206,821)              
Balances, at End of period (in shares) at Sep. 30, 2020 23,765,075                    
Balances, at End of period at Sep. 30, 2020 $ 148,373                    
Balances, at Beginning of period at Dec. 31, 2020             $ 3 371,228   (33,094) 338,137
Balances, at Beginning of period (in shares) at Dec. 31, 2020             39,308,238        
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Vesting of early exercised stock options               341     341
Exercise of stock options               187     $ 187
Exercise of stock options (in shares)             83,767       156,385
Issuance of shares under the employee stock purchase plan               386     $ 386
Issuance of shares under the employee stock purchase plan (in shares)             23,885        
Vesting of restricted stock awards (in shares)             192,790       192,790
Vesting of early exercised stock options (in shares)             72,618       81,937
Stock-based compensation expense               11,140     $ 11,140
Employee stock purchase plan expense               146     146
Net unrealized gain on marketable securities                 $ 15   15
Net loss                   (49,458) (49,458)
Balances, at End of period at Sep. 30, 2021             $ 3 383,428 15 (82,552) 300,894
Balances, at End of period (in shares) at Sep. 30, 2021             39,681,298        
Balances, at Beginning of period (in shares) at Dec. 31, 2020 0                    
Balances, at End of period (in shares) at Sep. 30, 2021 0                    
Balances, at Beginning of period at Jun. 30, 2021             $ 3 378,934 (14) (64,839) 314,084
Balances, at Beginning of period (in shares) at Jun. 30, 2021             39,552,588        
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Vesting of early exercised stock options               280     280
Exercise of stock options               57     57
Exercise of stock options (in shares)             20,753        
Vesting of restricted stock awards (in shares)             49,318        
Vesting of early exercised stock options (in shares)             58,639        
Stock-based compensation expense               4,125     4,125
Employee stock purchase plan expense               32     32
Net unrealized gain on marketable securities                 29   29
Net loss                   (17,713) (17,713)
Balances, at End of period at Sep. 30, 2021             $ 3 $ 383,428 $ 15 $ (82,552) $ 300,894
Balances, at End of period (in shares) at Sep. 30, 2021             39,681,298        
Balances, at End of period (in shares) at Sep. 30, 2021 0