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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
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, net of offering expenses (in shares)   8,249,261      
Issuance of common stock, 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)
Net 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, net of offering expenses (in shares)   4,286,831      
Issuance of common stock, 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        
Net 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)
Beginning balance (in shares) at Dec. 31, 2023   178,133,548      
Beginning balance at Dec. 31, 2023 82,887 $ 1,781 1,492,077 (1,406,376) (4,595)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock, net of offering expenses (in shares)   24,761,905      
Issuance of common stock, net of offering expenses 21,788 $ 248 21,540    
Issuance of common stock upon exercise of pre-funded warrants (in shares)   3,809,523      
Issuance of common stock upon exercise of pre-funded warrants 71 $ 38 33    
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares)   1,116,678      
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (481) $ 11 (492)    
Issuance of common stock under employee stock purchase plan (in shares)   379,486      
Issuance of common stock under employee stock purchase plan 146 $ 4 142    
Stock-based compensation 5,784   5,784    
Foreign currency translation adjustment (1,293)       (1,293)
Net pension gain (loss) 238       238
Net unrealized (loss) gain on marketable securities, net of tax (233)       (233)
Net loss (85,217)     (85,217)  
Ending balance (in shares) at Jun. 30, 2024   208,201,140      
Ending balance at Jun. 30, 2024 23,690 $ 2,082 1,519,084 (1,491,593) (5,883)
Beginning balance (in shares) at Mar. 31, 2024   203,686,086      
Beginning balance at Mar. 31, 2024 56,697 $ 2,037 1,515,926 (1,455,465) (5,801)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon exercise of pre-funded warrants (in shares)   3,809,523      
Issuance of common stock upon exercise of pre-funded warrants 71 $ 38 33    
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (in shares)   326,045      
Issuance of common stock upon exercise of stock options and vesting of restricted stock units, net of tax (79) $ 3 (82)    
Issuance of common stock under employee stock purchase plan (in shares)   379,486      
Issuance of common stock under employee stock purchase plan 146 $ 4 142    
Stock-based compensation 3,065   3,065    
Foreign currency translation adjustment (313)       (313)
Net pension gain (loss) 231       231
Net unrealized (loss) gain on marketable securities, net of tax 0        
Net loss (36,128)     (36,128)  
Ending balance (in shares) at Jun. 30, 2024   208,201,140      
Ending balance at Jun. 30, 2024 $ 23,690 $ 2,082 $ 1,519,084 $ (1,491,593) $ (5,883)