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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 (Loss) Income
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 in at-the-market offering, net of offering expenses (in shares)   6,228,666      
Issuance of common stock in at-the-market offering, net of offering expenses 24,274 $ 62 24,212    
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares)   842,838      
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (1,737) $ 9 (1,746)    
Issuance of common stock under employee stock purchase plan (in shares)   359,468      
Issuance of common stock under employee stock purchase plan 1,115 $ 4 1,111    
Stock-based compensation 15,609   15,609    
Foreign currency translation adjustment (8,012)       (8,012)
Net pension gain (loss) 75       75
Unrealized (loss) gain on marketable securities, net of tax (1,236)       (1,236)
Net loss (87,150)     (87,150)  
Ending balance (in shares) at Jun. 30, 2022   153,352,502      
Ending balance at Jun. 30, 2022 318,281 $ 1,534 1,373,324 (1,043,417) (13,160)
Beginning balance (in shares) at Mar. 31, 2022   146,664,760      
Beginning balance at Mar. 31, 2022 334,522 $ 1,467 1,340,254 (1,000,244) (6,955)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock in at-the-market offering, net of offering expenses (in shares)   6,228,666      
Issuance of common stock in at-the-market offering, net of offering expenses 24,274 $ 62 24,212    
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares)   99,608      
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (170) $ 1 (171)    
Issuance of common stock under employee stock purchase plan (in shares)   359,468      
Issuance of common stock under employee stock purchase plan 1,115 $ 4 1,111    
Stock-based compensation 7,918   7,918    
Foreign currency translation adjustment (6,108)       (6,108)
Net pension gain (loss) 56       56
Unrealized (loss) gain on marketable securities, net of tax (153)       (153)
Net loss (43,173)     (43,173)  
Ending balance (in shares) at Jun. 30, 2022   153,352,502      
Ending balance at Jun. 30, 2022 318,281 $ 1,534 1,373,324 (1,043,417) (13,160)
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 in at-the-market offering, net of offering expenses (in shares)   8,249,261      
Issuance of common stock in at-the-market offering, net of offering expenses 15,106 $ 83 15,023    
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares)   1,276,379      
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (1,303) $ 13 (1,316)    
Issuance of common stock under employee stock purchase plan (in shares)   755,586      
Issuance of common stock under employee stock purchase plan 719 $ 7 712    
Stock-based compensation 15,067   15,067    
Foreign currency translation adjustment 2,125       2,125
Net pension gain (loss) (3)       (3)
Unrealized (loss) gain on marketable securities, net of tax 346       346
Net loss (93,373)     (93,373)  
Ending balance (in shares) at Jun. 30, 2023   177,074,546      
Ending balance at Jun. 30, 2023 233,642 $ 1,771 1,479,725 (1,241,918) (5,936)
Beginning balance (in shares) at Mar. 31, 2023   171,771,568      
Beginning balance at Mar. 31, 2023 335,610 $ 1,718 1,467,062 (1,127,412) (5,758)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock in at-the-market offering, net of offering expenses (in shares)   4,286,831      
Issuance of common stock in at-the-market offering, net of offering expenses 5,401 $ 43 5,358    
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares)   260,561      
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (194) $ 3 (197)    
Issuance of common stock under employee stock purchase plan (in shares)   755,586      
Issuance of common stock under employee stock purchase plan 719 $ 7 712    
Stock-based compensation 6,790   6,790    
Foreign currency translation adjustment 80       80
Net pension gain (loss) 0        
Unrealized (loss) gain on marketable securities, net of tax (258)       (258)
Net loss (114,506)     (114,506)  
Ending balance (in shares) at Jun. 30, 2023   177,074,546      
Ending balance at Jun. 30, 2023 $ 233,642 $ 1,771 $ 1,479,725 $ (1,241,918) $ (5,936)