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Consolidated Statements of Stockholders' Equity (Deficit) - USD ($) | Common Stock At The Market Offering. | Common Stock Public Offering | Common Stock Optional Stock Purchase Agreement | Common Stock | Additional Paid-In Capital At The Market Offering. | Additional Paid-In Capital Public Offering | Additional Paid-In Capital Optional Stock Purchase Agreement | Additional Paid-In Capital | Accumulated Other Comprehensive Loss | Accumulated Deficit | At The Market Offering. | Public Offering | Optional Stock Purchase Agreement | Total
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Beginning Balances at Dec. 31, 2020 |  |  |  | $ 7,000 |  |  |  | $ 1,043,991,000 | $ (270,000) | $ (762,754,000) |  |  |  | $ 280,974,000
Beginning Balances (in shares) at Dec. 31, 2020 |  |  |  | 72,513,348 |  |  |  |  |  |  |  |  |  |
Net loss |  |  |  |  |  |  |  |  |  | (287,100,000) |  |  |  | (287,100,000)
Issuance of common stock upon exercise of stock options |  |  |  |  |  |  |  | 10,410,000 |  |  |  |  |  | 10,410,000
Issuance of common stock upon exercise of stock options (in shares) |  |  |  | 1,316,361 |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon vesting of restricted stock units ("RSUs") (in shares) |  |  |  | 465,930 |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with Surface Acquisition:(1) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  |  |  | 51,290,000 |  |  |  |  |  | 51,290,000
Issuance of common stock under Offering, net of issuance costs |  |  |  |  |  |  |  | 40,903,000 |  |  |  |  |  | 40,903,000
Issuance of common stock under Offering, net of issuance costs (in shares) |  |  |  | 2,491,988 |  |  |  |  |  |  |  |  |  |
Issuance of common stock under the employee stock purchase plan ("ESPP") |  |  |  |  |  |  |  | 3,002,000 |  |  |  |  |  | 3,002,000
Issuance of common stock under the employee stock purchase plan ("ESPP") (in shares) |  |  |  | 238,934 |  |  |  |  |  |  |  |  |  |
Taxes paid related to net share settlement of RSUs |  |  |  |  |  |  |  | (1,753,000) |  |  |  |  |  | (1,753,000)
Taxes paid related to net share settlement of RSUs (in shares) |  |  |  | (96,465) |  |  |  |  |  |  |  |  |  |
Ending Balances at Dec. 31, 2021 |  |  |  | $ 7,000 |  |  |  | 1,147,843,000 | (270,000) | (1,049,854,000) |  |  |  | 97,726,000
Ending Balances (in shares) at Dec. 31, 2021 |  |  |  | 76,930,096 |  |  |  |  |  |  |  |  |  |
Net loss |  |  |  |  |  |  |  |  |  | (291,754,000) |  |  |  | (291,754,000)
Issuance of common stock upon exercise of stock options |  |  |  |  |  |  |  | 691,000 |  |  |  |  |  | 691,000
Issuance of common stock upon exercise of stock options (in shares) |  |  |  | 141,897 |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon vesting of restricted stock units ("RSUs") (in shares) |  |  |  | 806,854 |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with Surface Acquisition:(1) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  |  |  | 51,188,000 |  |  |  |  |  | 51,188,000
Issuance of common stock under ATM Offering, net of issuance costs | $ 1,000 |  |  |  | $ 6,133,000 |  |  |  |  |  | $ 6,134,000 |  |  |
Issuance of common stock under Offering, net of issuance costs (in shares) | 916,884 |  |  |  |  |  |  |  |  |  | 916,884 |  |  |
Issuance of common stock under the employee stock purchase plan ("ESPP") |  |  |  |  |  |  |  | 2,320,000 |  |  |  |  |  | 2,320,000
Issuance of common stock under the employee stock purchase plan ("ESPP") (in shares) |  |  |  | 347,883 |  |  |  |  |  |  |  |  |  |
Taxes paid related to net share settlement of RSUs |  |  |  |  |  |  |  | (3,744,000) |  |  |  |  |  | (3,744,000)
Taxes paid related to net share settlement of RSUs (in shares) |  |  |  | (292,098) |  |  |  |  |  |  |  |  |  |
Other comprehensive gain (loss), net of tax |  |  |  |  |  |  |  |  | 21,000 |  |  |  |  | 21,000
Ending Balances at Dec. 31, 2022 |  |  |  | $ 8,000 |  |  |  | 1,204,431,000 | (249,000) | (1,341,608,000) |  |  |  | $ (137,418,000)
Ending Balances (in shares) at Dec. 31, 2022 |  |  |  | 78,851,516 |  |  |  |  |  |  |  |  |  | 78,851,516
Net loss |  |  |  |  |  |  |  |  |  | (237,892,000) |  |  |  | $ (237,892,000)
Issuance of common stock upon exercise of stock options |  |  |  |  |  |  |  | 694,000 |  |  |  |  |  | 694,000
Issuance of common stock upon exercise of stock options (in shares) |  |  |  | 430,504 |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon vesting of restricted stock units ("RSUs") (in shares) |  |  |  | 1,280,901 |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with Surface Acquisition:(1) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance to Surface shareholders for acquisition |  |  |  | $ 1,000 |  |  |  | 58,540,000 |  |  |  |  |  | 58,541,000
Issuance to Surface shareholders for acquisition (in shares) |  |  |  | 11,971,460 |  |  |  |  |  |  |  |  |  |
Accelerated vesting of equity awards (in shares) |  |  |  | 261,239 |  |  |  |  |  |  |  |  |  |
Accelerated vesting of equity awards |  |  |  |  |  |  |  | 1,053,000 |  |  |  |  |  | 1,053,000
Taxes paid related to net share settlement of equity awards (in shares) |  |  |  | (65,732) |  |  |  |  |  |  |  |  |  |
Taxes paid related to net share settlement of equity awards |  |  |  |  |  |  |  | (347,000) |  |  |  |  |  | (347,000)
Stock-based compensation expense |  |  |  |  |  |  |  | 43,540,000 |  |  |  |  |  | 43,540,000
Issuance of common stock under ATM Offering, net of issuance costs | $ 3,559,761 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Offering, net of issuance costs | $ 1,000 | $ 1,000 |  |  | $ 18,316,000 | $ 53,624,000 | $ 8,179,000 |  |  |  | $ 18,317,000 | $ 53,625,000 | $ 8,179,000 |
Issuance of common stock under Offering, net of issuance costs (in shares) |  | 13,529,411 | 2,225,513 |  |  |  |  |  |  |  | 3,559,761 |  |  |
Issuance of common stock under the employee stock purchase plan ("ESPP") |  |  |  |  |  |  |  | 1,809,000 |  |  |  |  |  | 1,809,000
Issuance of common stock under the employee stock purchase plan ("ESPP") (in shares) |  |  |  | 630,348 |  |  |  |  |  |  |  |  |  |
Taxes paid related to net share settlement of RSUs |  |  |  |  |  |  |  | (3,527,000) |  |  |  |  |  | (3,527,000)
Taxes paid related to net share settlement of RSUs (in shares) |  |  |  | (459,661) |  |  |  |  |  |  |  |  |  |
Other comprehensive gain (loss), net of tax |  |  |  |  |  |  |  |  | 1,000 |  |  |  |  | 1,000
Ending Balances at Dec. 31, 2023 |  |  |  | $ 11,000 |  |  |  | $ 1,386,312,000 | $ (248,000) | $ (1,579,500,000) |  |  |  | $ (193,425,000)
Ending Balances (in shares) at Dec. 31, 2023 |  |  |  | 112,215,260 |  |  |  |  |  |  |  |  |  | 112,215,260

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