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CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands | Total | Common stock | Treasury Stock, Common | Additional paid-in capital | Accumulated deficit | Accumulated other comprehensive loss | Total stockholders' equity
--- | --- | --- | --- | --- | --- | --- | ---
Beginning balance (in shares) at Dec. 31, 2021 |  | 126,925,104 |  |  |  |  |
Beginning balance at Dec. 31, 2021 | $ 85,274 | $ 13 | $ (4,881) |  | $ (412,776) | $ 0 | $ (322,634)
Treasury stock, beginning balance (in shares) at Dec. 31, 2021 |  |  | 7,685,190 |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Stock-based compensation expenses | 11,897 |  |  |  | 11,897 |  |
Issuance of common stock upon exercise of stock options (in shares) |  | 3,661,650 |  |  |  |  |
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units | 1,364 | $ 0 |  |  | 1,364 |  |
Other comprehensive income | (1,194) |  |  |  |  | (1,194) |
Net loss | (34,273) |  |  |  |  |  | (34,273)
Ending balance (in shares) at Jun. 30, 2022 |  | 130,586,754 |  |  |  |  |
Ending balance at Jun. 30, 2022 | 63,068 | $ 13 | $ (4,881) |  | 426,037 | (1,194) | (356,907)
Treasury stock, ending balance (in shares) at Jun. 30, 2022 |  |  | 7,685,190 |  |  |  |
Beginning balance (in shares) at Mar. 31, 2022 |  | 127,648,228 |  |  |  |  |
Beginning balance at Mar. 31, 2022 |  | $ 13 | $ 4,881 | $ 418,826 | (339,560) | 523 | 74,921
Treasury stock, beginning balance (in shares) at Mar. 31, 2022 |  |  | 7,685,190 |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Stock-based compensation expenses | 6,145 |  |  |  | 6,145 |  |
Issuance of common stock upon exercise of stock options (in shares) |  | 2,938,526 |  |  |  |  |
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units | 1,066 | $ 0 |  |  | 1,066 |  |
Other comprehensive income | (1,717) |  |  |  |  | (1,717) |
Net loss | (17,347) |  |  |  |  |  | (17,347)
Ending balance (in shares) at Jun. 30, 2022 |  | 130,586,754 |  |  |  |  |
Ending balance at Jun. 30, 2022 | $ 63,068 | $ 13 | $ (4,881) |  | 426,037 | (1,194) | (356,907)
Treasury stock, ending balance (in shares) at Jun. 30, 2022 |  |  | 7,685,190 |  |  |  |
Beginning balance (in shares) at Dec. 31, 2022 | 134,564,429 | 134,564,429 |  |  |  |  |
Beginning balance at Dec. 31, 2022 | $ 43,346 | $ 13 | $ 4,881 |  | 439,644 | (301) | (391,129)
Treasury stock, beginning balance (in shares) at Dec. 31, 2022 |  |  | 7,685,190 |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Stock-based compensation expenses | 14,959 |  |  |  | 14,959 |  |
Issuance of common stock upon exercise of stock options (in shares) |  | 3,229,049 |  |  |  |  |
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units | 751 | $ 0 |  |  | 751 |  |
Other comprehensive income | 40 |  |  |  |  | 40 |
Net loss | $ (23,573) |  |  |  |  |  | (23,573)
Ending balance (in shares) at Jun. 30, 2023 | 137,793,478 | 137,793,478 |  |  |  |  |
Ending balance at Jun. 30, 2023 | $ 35,523 | $ 13 | $ (4,881) |  | 455,354 | (261) | (414,702)
Treasury stock, ending balance (in shares) at Jun. 30, 2023 | 7,685,190 |  | 7,685,190 |  |  |  |
Beginning balance (in shares) at Mar. 31, 2023 |  | 135,695,254 |  |  |  |  |
Beginning balance at Mar. 31, 2023 | $ 37,971 | $ 13 | $ (4,881) |  | 447,316 | (553) | (403,924)
Treasury stock, beginning balance (in shares) at Mar. 31, 2023 |  |  | 7,685,190 |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Stock-based compensation expenses | 7,668 |  |  |  | 7,668 |  |
Issuance of common stock upon exercise of stock options (in shares) |  | 2,098,224 |  |  |  |  |
Issuance of common stock upon exercise of stock options, and vesting of restricted stock units | 370 | $ 0 |  |  | 370 |  |
Other comprehensive income | 292 |  |  |  |  | 292 |
Net loss | $ (10,778) |  |  |  |  |  | (10,778)
Ending balance (in shares) at Jun. 30, 2023 | 137,793,478 | 137,793,478 |  |  |  |  |
Ending balance at Jun. 30, 2023 | $ 35,523 | $ 13 | $ (4,881) |  | $ 455,354 | $ (261) | $ (414,702)
Treasury stock, ending balance (in shares) at Jun. 30, 2023 | 7,685,190 |  | 7,685,190 |  |  |  |

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