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CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-in Capital
Accumulated Deficit
Accumulated Other Comprehensive Income (Loss)
Beginning balance (in shares) at Dec. 31, 2021   145,921,530      
Beginning balance at Dec. 31, 2021 $ 375,343 $ 1,459 $ 1,334,138 $ (956,267) $ (3,987)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon exercise of stock options and in connection with restricted stock units, net of tax (in shares)   743,230      
Issuance of common stock upon exercise of stock options and in connection with restricted stock units, net of tax (1,567) $ 8 (1,575)    
Stock-based compensation 7,691   7,691    
Foreign currency translation adjustment (1,904)       (1,904)
Net pension (loss) gain 19       19
Net unrealized gain on marketable securities, net of tax (1,083)       (1,083)
Net income (loss) (43,977)     (43,977)  
Ending balance (in shares) at Mar. 31, 2022   146,664,760      
Ending balance at Mar. 31, 2022 334,522 $ 1,467 1,340,254 (1,000,244) (6,955)
Beginning balance (in shares) at Dec. 31, 2022   166,793,320      
Beginning balance at Dec. 31, 2022 294,958 $ 1,668 1,450,239 (1,148,545) (8,404)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock under public offering, net of issuance costs (in shares)   3,962,430      
Issuance of common stock in connection with at-the-market offering, net of offering expenses 9,705 $ 40 9,665    
Issuance of common stock upon exercise of stock options and in connection with restricted stock units, net of tax (in shares)   1,015,818      
Issuance of common stock upon exercise of stock options and in connection with restricted stock units, net of tax (1,109) $ 10 (1,119)    
Stock-based compensation 8,277   8,277    
Foreign currency translation adjustment 2,045       2,045
Net pension (loss) gain (3)       (3)
Net unrealized gain on marketable securities, net of tax 604       604
Net income (loss) 21,133     21,133  
Ending balance (in shares) at Mar. 31, 2023   171,771,568      
Ending balance at Mar. 31, 2023 $ 335,610 $ 1,718 $ 1,467,062 $ (1,127,412) $ (5,758)