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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands | Total | Common Stock | Additional Paid-in Capital | Accumulated Other Comprehensive Income (Loss) | Accumulated Deficit | Noncontrolling Interests
--- | --- | --- | --- | --- | --- | ---
Balance at Dec. 31, 2020 | $ 103,806 | $ 168 | $ 1,012,932 | $ 674 | $ (909,968) |
Balance (in shares) at Dec. 31, 2020 |  | 168,170 |  |  |  |
Issuance of common stock from public offering, net of offering costs | 3,069 | $ 1 | 3,068 |  |  |
Issuance of common stock from public offering, net of offering costs (in shares) |  | 400 |  |  |  |
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases | 9,370 | $ 5 | 9,365 |  |  |
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares) |  | 5,100 |  |  |  |
Stock-based compensation | 23,571 |  | 23,571 |  |  |
Other comprehensive income (loss) | (823) |  |  | (823) |  |
Equity contribution from noncontrolling interest | 1,000 |  |  |  |  | $ 1,000
Net loss | (54,376) |  |  |  | (54,374) | (2)
Balance at Dec. 31, 2021 | 85,617 | $ 174 | 1,048,936 | (149) | (964,342) | 998
Balance (in shares) at Dec. 31, 2021 |  | 173,670 |  |  |  |
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases | 3,952 | $ 3 | 3,949 |  |  |
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares) |  | 3,912 |  |  |  |
Stock-based compensation | 24,456 |  | 24,456 |  |  |
Other comprehensive income (loss) | (2,638) |  |  | (2,638) |  |
Net loss | (42,825) |  |  |  | (42,779) | (46)
Balance at Dec. 31, 2022 | 68,562 | $ 177 | 1,077,341 | (2,787) | (1,007,121) | 952
Balance (in shares) at Dec. 31, 2022 |  | 177,582 |  |  |  |
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases | 745 | $ 4 | 741 |  |  |
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares) |  | 3,666 |  |  |  |
Stock-based compensation | 20,271 |  | 20,271 |  |  |
Other comprehensive income (loss) | 1,513 |  |  | 1,513 |  |
Net loss | (37,647) |  |  |  | (37,489) | (158)
Balance at Dec. 31, 2023 | $ 53,444 | $ 181 | $ 1,098,353 | $ (1,274) | $ (1,044,610) | $ 794
Balance (in shares) at Dec. 31, 2023 |  | 181,248 |  |  |  |

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