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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) |  | 14,711,770 |  |  |
Issuance of common stock in at-the-market offering, net of offering expenses | 66,448 | $ 147 | 66,301 |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares) |  | 925,455 |  |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax | (1,838) | $ 9 | (1,847) |  |
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 | 23,402 |  | 23,402 |  |
Foreign currency translation adjustment | (14,040) |  |  |  | (14,040)
Net pension gain | 130 |  |  |  | 130
Net unrealized (loss) gain on marketable securities, net of tax | (1,101) |  |  |  | (1,101)
Net loss | (140,305) |  |  | (140,305) |
Ending balance (in shares) at Sep. 30, 2022 |  | 161,918,223 |  |  |
Ending balance at Sep. 30, 2022 | 309,154 | $ 1,619 | 1,423,105 | (1,096,572) | (18,998)
Beginning balance (in shares) at Jun. 30, 2022 |  | 153,352,502 |  |  |
Beginning balance at Jun. 30, 2022 | 318,281 | $ 1,534 | 1,373,324 | (1,043,417) | (13,160)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Issuance of common stock in at-the-market offering, net of offering expenses (in shares) |  | 8,483,104 |  |  |
Issuance of common stock in at-the-market offering, net of offering expenses | 42,174 | $ 85 | 42,089 |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares) |  | 82,617 |  |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax | (101) | $ 0 | (101) |  |
Stock-based compensation | 7,793 |  | 7,793 |  |
Foreign currency translation adjustment | (6,028) |  |  |  | (6,028)
Net pension gain | 55 |  |  |  | 55
Net unrealized (loss) gain on marketable securities, net of tax | 135 |  |  |  | 135
Net loss | (53,155) |  |  | (53,155) |
Ending balance (in shares) at Sep. 30, 2022 |  | 161,918,223 |  |  |
Ending balance at Sep. 30, 2022 | 309,154 | $ 1,619 | 1,423,105 | (1,096,572) | (18,998)
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) |  | 1,481,508 |  |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax | (1,404) | $ 15 | (1,419) |  |
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 | 21,256 |  | 21,256 |  |
Foreign currency translation adjustment | 981 |  |  |  | 981
Net pension gain | 2 |  |  |  | 2
Net unrealized (loss) gain on marketable securities, net of tax | 840 |  |  |  | 840
Net loss | (197,536) |  |  | (197,536) |
Ending balance (in shares) at Sep. 30, 2023 |  | 177,279,675 |  |  |
Ending balance at Sep. 30, 2023 | 134,922 | $ 1,773 | 1,485,811 | (1,346,081) | (6,581)
Beginning balance (in shares) at Jun. 30, 2023 |  | 177,074,546 |  |  |
Beginning balance at Jun. 30, 2023 | 233,642 | $ 1,771 | 1,479,725 | (1,241,918) | (5,936)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares) |  | 205,129 |  |  |
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax | (101) | $ 2 | (103) |  |
Stock-based compensation | 6,189 |  | 6,189 |  |
Foreign currency translation adjustment | (1,144) |  |  |  | (1,144)
Net pension gain | 5 |  |  |  | 5
Net unrealized (loss) gain on marketable securities, net of tax | 494 |  |  |  | 494
Net loss | (104,163) |  |  | (104,163) |
Ending balance (in shares) at Sep. 30, 2023 |  | 177,279,675 |  |  |
Ending balance at Sep. 30, 2023 | $ 134,922 | $ 1,773 | $ 1,485,811 | $ (1,346,081) | $ (6,581)

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