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Condensed Consolidated Statements of Stockholders' Equity - USD ($)
shares in Thousands, $ in Thousands
Total
Cumulative Effect, Period of Adoption, Adjustment
Common Stock
Additional Paid-in Capital
Accumulated Other Comprehensive Income (Loss)
Accumulated Deficit
Accumulated Deficit
Cumulative Effect, Period of Adoption, Adjustment
Beginning Balance (shares) at Dec. 31, 2018     49,338        
Beginning Balance at Dec. 31, 2018 $ 72,116   $ 49 $ 631,605 $ (687) $ (558,851)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of common stock on bond conversion (shares)     19,460        
Issuance of common stock on bond conversion 133,298   $ 19 133,279      
Issuance of restricted stock, net of shares withheld for taxes, and other (shares)     140        
Issuance of restricted stock, net of shares withheld for taxes, and other (176)   $ 1 (177)      
Issuance of common stock from option exercises (shares)     53        
Issuance of common stock from option exercises 255     255      
Stock-based compensation expense 2,207     2,207      
Net loss (25,465)         (25,465)  
Other comprehensive income, net of tax 10       10    
Ending Balance (shares) at Mar. 31, 2019     68,991        
Ending Balance at Mar. 31, 2019 182,245   $ 69 767,169 (677) (584,316)  
Beginning Balance (shares) at Dec. 31, 2018     49,338        
Beginning Balance at Dec. 31, 2018 72,116   $ 49 631,605 (687) (558,851)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Net loss (52,105)            
Other comprehensive income, net of tax (71)            
Ending Balance (shares) at Sep. 30, 2019     69,550        
Ending Balance at Sep. 30, 2019 162,605   $ 70 774,249 (758) (610,956)  
Beginning Balance (shares) at Dec. 31, 2018     49,338        
Beginning Balance at Dec. 31, 2018 $ 72,116   $ 49 631,605 (687) (558,851)  
Ending Balance (shares) at Dec. 31, 2019 69,956   69,956        
Ending Balance at Dec. 31, 2019 $ 153,612 $ (100) $ 70 777,765 (582) (623,641) $ (100)
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Accounting Standards Update [Extensible List] us-gaap:AccountingStandardsUpdate201613Member            
Beginning Balance (shares) at Mar. 31, 2019     68,991        
Beginning Balance at Mar. 31, 2019 $ 182,245   $ 69 767,169 (677) (584,316)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of restricted stock, net of shares withheld for taxes, and other (shares)     183        
Issuance of restricted stock, net of shares withheld for taxes, and other (325)     (325)      
Issuance of common stock from option exercises (shares)     130        
Issuance of common stock from option exercises 793     793      
Issuance of common stock under ESPP (shares)     96        
Issuance of common stock under ESPP 641     641      
Stock-based compensation expense 2,985     2,985      
Net loss (13,753)         (13,753)  
Other comprehensive income, net of tax 54       54    
Ending Balance (shares) at Jun. 30, 2019     69,400        
Ending Balance at Jun. 30, 2019 172,640   $ 69 771,263 (623) (598,069)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of restricted stock, net of shares withheld for taxes, and other (shares)     149        
Issuance of restricted stock, net of shares withheld for taxes, and other (69)   $ 1 (70)      
Issuance of common stock from option exercises (shares)     1        
Issuance of common stock from option exercises 1     1      
Stock-based compensation expense 3,055     3,055      
Net loss (12,887)         (12,887)  
Other comprehensive income, net of tax (135)       (135)    
Ending Balance (shares) at Sep. 30, 2019     69,550        
Ending Balance at Sep. 30, 2019 $ 162,605   $ 70 774,249 (758) (610,956)  
Beginning Balance (shares) at Dec. 31, 2019 69,956   69,956        
Beginning Balance at Dec. 31, 2019 $ 153,612 (100) $ 70 777,765 (582) (623,641) (100)
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of restricted stock, net of shares withheld for taxes, and other (shares)     255        
Issuance of restricted stock, net of shares withheld for taxes, and other (146)     (146)      
Stock-based compensation expense 2,364     2,364      
Acquisition of InstruNor AS (shares)     485        
Acquisition of InstruNor AS 2,049   $ 1 2,048      
Net loss (15,980)         (15,980)  
Other comprehensive income, net of tax (303)       (303)    
Ending Balance (shares) at Mar. 31, 2020     70,696        
Ending Balance at Mar. 31, 2020 $ 141,496   $ 71 782,031 (885) (639,721)  
Beginning Balance (shares) at Dec. 31, 2019 69,956   69,956        
Beginning Balance at Dec. 31, 2019 $ 153,612 $ (100) $ 70 777,765 (582) (623,641) $ (100)
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of common stock from option exercises (shares) 98            
Net loss $ (34,994)            
Other comprehensive income, net of tax $ 293            
Ending Balance (shares) at Sep. 30, 2020 74,115   74,115        
Ending Balance at Sep. 30, 2020 $ 151,973   $ 74 810,923 (289) (658,735)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Accounting Standards Update [Extensible List] us-gaap:AccountingStandardsUpdate201613Member            
Beginning Balance (shares) at Mar. 31, 2020     70,696        
Beginning Balance at Mar. 31, 2020 $ 141,496   $ 71 782,031 (885) (639,721)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of restricted stock, net of shares withheld for taxes, and other (shares)     286        
Issuance of restricted stock, net of shares withheld for taxes, and other (116)     (116)      
Issuance of common stock under ESPP (shares)     301        
Issuance of common stock under ESPP 645     645      
Stock-based compensation expense 3,633     3,633      
Net loss (13,015)         (13,015)  
Other comprehensive income, net of tax 76       76    
Ending Balance (shares) at Jun. 30, 2020     71,283        
Ending Balance at Jun. 30, 2020 132,719   $ 71 786,193 (809) (652,736)  
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Issuance of restricted stock, net of shares withheld for taxes, and other (shares)     258        
Issuance of restricted stock, net of shares withheld for taxes, and other (123)   $ 1 (124)      
Issuance of common stock from option exercises (shares)     94        
Issuance of common stock from option exercises 450     450      
Issuance of common stock from at-the-market offering, net of issuance costs (in shares)     2,480        
Issuance of common stock from at-the-market offering, net of issuance costs 20,228   $ 2 20,226      
Equity issuance costs (180)     (180)      
Stock-based compensation expense 4,358     4,358      
Net loss (5,999)         (5,999)  
Other comprehensive income, net of tax $ 520       520    
Ending Balance (shares) at Sep. 30, 2020 74,115   74,115        
Ending Balance at Sep. 30, 2020 $ 151,973   $ 74 $ 810,923 $ (289) $ (658,735)