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Condensed Consolidated Statements of Stockholders' Deficit - USD ($) shares in Thousands, $ in Thousands | Total | Preferred Stock | Common Stock | Additional Paid-in Capital | [1] | Accumulated Deficit | Accumulated Other Comprehensive Income (Loss)
--- | --- | --- | --- | --- | --- | --- | ---
Beginning balance (shares) at Dec. 31, 2022 |  |  | 25 | 10,847 | [1] |  |  |
Beginning balance at Dec. 31, 2022 |  | $ (70,117) | $ 0 | $ 11 | [1] | $ 793,952 | $ (857,751) | $ (6,329)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |
Net loss |  | (5,104) |  |  |  |  | (5,104) |
Foreign currency translation adjustment |  | 94 |  |  |  |  |  | 94
Exercise of stock options, vesting of restricted stock units and stock issued under employee stock purchase plan (shares) | [1] |  |  | 4 |  |  |  |
Vesting of restricted stock units and stock issued under employee stock purchase plan, net of taxes withheld |  | 75 |  |  |  | 75 |  |
Issuance of common shares in connection with a public offering, net of issuance costs (shares) |  |  |  | 86 |  |  |  |
Issuance of common shares in connection with a public offering, net of issuance costs |  | 529 |  |  |  | 529 |  |
Share-based compensation |  | 1,800 |  |  |  | 1,800 |  |
Series E preferred stock dividends |  | 0 |  |  |  | 723 | (723) |
Ending balance (shares) at Mar. 31, 2023 |  |  | 25 | 10,937 | [1] |  |  |
Ending balance at Mar. 31, 2023 |  | (72,723) | $ 0 | $ 11 | [1] | 797,079 | (863,578) | (6,235)
Beginning balance (shares) at Dec. 31, 2023 |  |  | 25 | 11,879 | [1] |  |  |
Beginning balance at Dec. 31, 2023 |  | (102,105) | $ 0 | $ 12 | [1] | 810,138 | (906,928) | (5,327)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |
Net loss |  | (4,455) |  |  |  |  | (4,455) |
Foreign currency translation adjustment |  | 262 |  |  |  |  |  | 262
Exercise of stock options, vesting of restricted stock units and stock issued under employee stock purchase plan (shares) | [1] |  |  | 4 |  |  |  |
Vesting of restricted stock units and stock issued under employee stock purchase plan, net of taxes withheld |  | (8) |  |  |  | (8) |  |
Share-based compensation |  | 717 |  |  |  | 717 |  |
Series E preferred stock dividends |  | 0 |  |  |  | 790 | (790) |
Ending balance (shares) at Mar. 31, 2024 |  |  | 25 | 11,883 | [1] |  |  |
Ending balance at Mar. 31, 2024 |  | $ (105,589) | $ 0 | $ 12 | [1] | $ 811,637 | $ (912,173) | $ (5,065)
[1] | Adjusted retroactively for reverse stock split that occurred on January 24, 2024, see Note 1

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