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Condensed Consolidated Statements of Stockholders' Equity (Unaudited) - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-in Capital
Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2021   65,109,000    
Beginning balance at Dec. 31, 2021 $ 164,391 $ 6 $ 552,083 $ (387,698)
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Exercise of stock options (in shares) 174,600 175,000    
Exercise of stock options $ 432   432  
Release of stock awards (in shares)   285,000    
Employee stock-based compensation 6,951   6,951  
Non-employee stock-based compensation 118   118  
Taxes paid related to net share settlement of equity awards (in shares)   (75,000)    
Taxes paid related to net share settlement of equity awards (1,437)   (1,437)  
Net loss (10,996)     (10,996)
Ending balance (in shares) at Jun. 30, 2022   65,494,000    
Ending balance at Jun. 30, 2022 159,459 $ 6 558,147 (398,694)
Beginning balance (in shares) at Mar. 31, 2022   65,304,000    
Beginning balance at Mar. 31, 2022 158,635 $ 6 554,683 (396,054)
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Exercise of stock options (in shares)   97,000    
Exercise of stock options 251   251  
Release of stock awards (in shares)   95,000    
Employee stock-based compensation 3,174   3,174  
Non-employee stock-based compensation 57   57  
Taxes paid related to net share settlement of equity awards (in shares)   (2,000)    
Taxes paid related to net share settlement of equity awards (18)   (18)  
Net loss (2,640)     (2,640)
Ending balance (in shares) at Jun. 30, 2022   65,494,000    
Ending balance at Jun. 30, 2022 159,459 $ 6 558,147 (398,694)
Beginning balance (in shares) at Dec. 31, 2022   65,811,000    
Beginning balance at Dec. 31, 2022 $ 144,797 $ 6 566,081 (421,290)
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Exercise of stock options (in shares) 214,284 214,000    
Exercise of stock options $ 422   422  
Release of stock awards (in shares)   764,000    
Employee stock-based compensation 5,525   5,525  
Issuance of common stock, net of issuance costs (shares)   3,080,000    
Issuance of common stock, net of issuance costs 7,931   7,931  
Taxes paid related to net share settlement of equity awards (in shares)   (65,000)    
Taxes paid related to net share settlement of equity awards (404)   (404)  
Net loss (34,140)     (34,140)
Ending balance (in shares) at Jun. 30, 2023   69,804,000    
Ending balance at Jun. 30, 2023 124,131 $ 6 579,555 (455,430)
Beginning balance (in shares) at Mar. 31, 2023   66,696,000    
Beginning balance at Mar. 31, 2023 126,016 $ 6 569,917 (443,907)
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Exercise of stock options (in shares)   71,000    
Exercise of stock options 141   141  
Release of stock awards (in shares)   285,000    
Employee stock-based compensation 2,716   2,716  
Issuance of common stock, net of issuance costs (shares)   2,752,000    
Issuance of common stock, net of issuance costs 6,781   6,781  
Net loss (11,523)     (11,523)
Ending balance (in shares) at Jun. 30, 2023   69,804,000    
Ending balance at Jun. 30, 2023 $ 124,131 $ 6 $ 579,555 $ (455,430)