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Selected Quarterly Financial Data (Unaudited) - Condensed Statements of Operations (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2022
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]              
Revenue $ 11,147 $ 12,853 $ 9,040 $ 21,893 $ 33,040 $ 53,163 $ 37,312
Operating expenses:              
Research and development 30,367 31,159 30,559 61,718 92,085 111,649 114,194
General and administrative 10,490 11,748 10,543 22,291 32,781 42,849 39,160
Total operating expenses 40,857 42,907 41,102 84,009 124,866 154,498 153,354
Loss from operations (29,710) (30,054) (32,062) (62,116) (91,826) (101,335) (116,042)
Interest income 616 262 68 330 946 1,678 255
Other income (expense) 30 296 13 309 339 340 (83)
Loss before income taxes (29,064) (29,496) (31,981) (61,477) (90,541) (99,317) (115,870)
Loss/(Benefit) from income taxes 0 0 0 0 0 0 0
Net loss (29,064) (29,496) (31,981) (61,477) (90,541) (99,317) (115,870)
Other comprehensive income (loss):              
Unrealized gain (loss) on available-for-sale investments, net of tax 367 (243) (677) (920) (553) 252 (195)
Comprehensive income (loss) $ (28,697) $ (29,739) $ (32,658) $ (62,397) $ (91,094) $ (99,065) $ (116,065)
Net loss per share, Basic $ (0.44) $ (0.45) $ (0.49) $ (0.94) $ (1.38) $ (1.51) $ (1.81)
Net loss per share, Diluted $ (0.44) $ (0.45) $ (0.49) $ (0.94) $ (1.38) $ (1.51) $ (1.81)
Shares used to compute net loss per share, Basic 65,912,334 65,542,762 65,393,691 65,468,638 65,618,162 65,739,844 64,146,848
Shares used to compute net loss per share, Diluted 65,912,334 65,542,762 65,393,691 65,468,638 65,618,162 65,739,844 64,146,848
As Reported              
Error Corrections and Prior Period Adjustments Restatement [Line Items]              
Revenue $ 16,915 $ 18,165 $ 17,136 $ 35,301 $ 52,216    
Operating expenses:              
Research and development 30,367 31,159 30,559 61,718 92,085    
General and administrative 10,490 11,748 10,543 22,291 32,781    
Total operating expenses 40,857 42,907 41,102 84,009 124,866    
Loss from operations (23,942) (24,742) (23,966) (48,708) (72,650)    
Interest income 616 262 68 330 946    
Other income (expense) 30 296 13 309 339    
Loss before income taxes (23,296) (24,184) (23,885) (48,069) (71,365)    
Loss/(Benefit) from income taxes 0 0 0 0 0    
Net loss (23,296) (24,184) (23,885) (48,069) (71,365)    
Other comprehensive income (loss):              
Unrealized gain (loss) on available-for-sale investments, net of tax 367 (243) (677) (920) (553)    
Comprehensive income (loss) $ (22,929) $ (24,427) $ (24,562) $ (48,989) $ (71,918)    
Net loss per share, Basic $ (0.35) $ (0.37) $ (0.37) $ (0.73) $ (1.09)    
Net loss per share, Diluted $ (0.35) $ (0.37) $ (0.37) $ (0.73) $ (1.09)    
Shares used to compute net loss per share, Basic 65,912,334 65,542,762 65,393,691 65,468,638 65,618,162    
Shares used to compute net loss per share, Diluted 65,912,334 65,542,762 65,393,691 65,468,638 65,618,162    
Restatement Adjustment              
Error Corrections and Prior Period Adjustments Restatement [Line Items]              
Revenue $ (5,768) $ (5,312) $ (8,096) $ (13,408) $ (19,176)    
Operating expenses:              
Research and development    
General and administrative    
Total operating expenses    
Loss from operations (5,768) (5,312) (8,096) (13,408) (19,176)    
Interest income    
Other income (expense)    
Loss before income taxes (5,768) (5,312) (8,096) (13,408) (19,176)    
Loss/(Benefit) from income taxes 0 0 0 0 0    
Net loss (5,768) (5,312) (8,096) (13,408) (19,176)    
Other comprehensive income (loss):              
Unrealized gain (loss) on available-for-sale investments, net of tax    
Comprehensive income (loss) $ (5,768) $ (5,312) $ (8,096) $ (13,408) $ (19,176)