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Condensed consolidated statements of redeemable convertible preferred stock and stockholders' deficit - USD ($)
$ in Thousands
Common Stock
Common Class A
Common Stock
Common Class B
Additional paid-in capital
Common Class A
Additional paid-in capital
Accumulated deficit
Accumulated Other Comprehensive Income (Loss)
Series C1 Redeemable Convertible Preferred Stock
Series C2 Redeemable Convertible Preferred Stock
Series D1 Redeemable Convertible Preferred Stock
Series D2 Redeemable Convertible Preferred Stock
Common Class A
Total
Balance at Dec. 31, 2019                       $ 81,850
Balance (shares) at Dec. 31, 2019                       78,757,540
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Accretion of redeemable convertible preferred stock to redemption value                       $ 818
Cumulative redeemable convertible preferred stock dividends                       788
Balance at Mar. 31, 2020                       $ 83,456
Balance (shares) at Mar. 31, 2020                       78,757,540
Balance at Dec. 31, 2019 $ 4     $ 121,931 $ (204,510)             $ (82,575)
Balance (shares) at Dec. 31, 2019 353,465                      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Accretion of redeemable convertible preferred stock to redemption value       (818)               (818)
Cumulative redeemable convertible preferred stock dividends       (788)               (788)
Stock based compensation expense       120               120
Net loss         (8,007)             (8,007)
Balance at Mar. 31, 2020 $ 4     120,445 (212,517)             (92,068)
Balance (shares) at Mar. 31, 2020 353,465                      
Balance at Dec. 31, 2019                       $ 81,850
Balance (shares) at Dec. 31, 2019                       78,757,540
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Conversion of bridge notes to redeemable convertible preferred stock                       $ 9,523
Balance at Sep. 30, 2020                       $ 149,552
Balance (shares) at Sep. 30, 2020                       133,021,640
Balance at Dec. 31, 2019 $ 4     121,931 (204,510)             $ (82,575)
Balance (shares) at Dec. 31, 2019 353,465                      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Net loss                       (25,739)
Balance at Sep. 30, 2020 $ 4     116,428 (230,249)             (113,817)
Balance (shares) at Sep. 30, 2020 358,465                      
Balance at Mar. 31, 2020                       $ 83,456
Balance (shares) at Mar. 31, 2020                       78,757,540
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Issuance of redeemable convertible preferred stock, net of issuance costs             $ 26,891 $ 23,044        
Issuance of redeemable convertible preferred stock, net of issuance costs (in shares)             23,611,208 20,301,829        
Conversion of bridge notes to redeemable convertible preferred stock             $ 11,898          
Conversion of bridge notes to redeemable convertible preferred stock (In shares)             10,351,063          
Accretion of redeemable convertible preferred stock to redemption value                       $ 1,232
Cumulative redeemable convertible preferred stock dividends                       787
Balance at Jun. 30, 2020                       $ 147,308
Balance (shares) at Jun. 30, 2020                       133,021,640
Balance at Mar. 31, 2020 $ 4     120,445 (212,517)             $ (92,068)
Balance (shares) at Mar. 31, 2020 353,465                      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Accretion of redeemable convertible preferred stock to redemption value       (1,232)               (1,232)
Cumulative redeemable convertible preferred stock dividends       (787)               (787)
Stock based compensation expense       126               126
Net loss         (9,267)             (9,267)
Balance at Jun. 30, 2020 $ 4     118,552 (221,784)             (103,228)
Balance (shares) at Jun. 30, 2020 353,465                      
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Accretion of redeemable convertible preferred stock to redemption value                       832
Cumulative redeemable convertible preferred stock dividends                       1,412
Balance at Sep. 30, 2020                       $ 149,552
Balance (shares) at Sep. 30, 2020                       133,021,640
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Issuance of common stock upon exercise of stock options       5               $ 5
Issuance of common stock upon exercise of stock options (In shares) 5,000                      
Accretion of redeemable convertible preferred stock to redemption value       (832)               (832)
Cumulative redeemable convertible preferred stock dividends       (1,412)               (1,412)
Stock based compensation expense       115               115
Net loss         (8,465)             (8,465)
Balance at Sep. 30, 2020 $ 4     116,428 (230,249)             (113,817)
Balance (shares) at Sep. 30, 2020 358,465                      
Balance at Dec. 31, 2020             $ 40,632 $ 24,141       $ 151,826
Balance (shares) at Dec. 31, 2020             33,962,271 20,301,829       133,021,640
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Issuance of redeemable convertible preferred stock, net of issuance costs                 $ 78,338 $ 1,470    
Issuance of redeemable convertible preferred stock, net of issuance costs (in shares)                 22,086,725 413,268    
Accretion of redeemable convertible preferred stock to redemption value                       $ 787
Cumulative redeemable convertible preferred stock dividends                       1,411
Balance at Mar. 31, 2021                       $ 233,832
Balance (shares) at Mar. 31, 2021                       155,521,633
Balance at Dec. 31, 2020 $ 6     114,575 (241,588) $ 1           $ (127,006)
Balance (shares) at Dec. 31, 2020 612,850                      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Issuance of common stock upon exercise of stock options $ 1     66               67
Issuance of common stock upon exercise of stock options (In shares) 67,418                      
Accretion of redeemable convertible preferred stock to redemption value       (787)               (787)
Cumulative redeemable convertible preferred stock dividends       (1,411)               (1,411)
Issuance of restricted common stock awards $ 2     (2)                
Issuance of restricted common stock awards (in shares) 248,903                      
Stock based compensation expense       191               191
Net loss         (22,101)             (22,101)
Balance at Mar. 31, 2021 $ 9     112,632 (263,689) 1           (151,047)
Balance (shares) at Mar. 31, 2021 929,171                      
Balance at Dec. 31, 2020             $ 40,632 $ 24,141       $ 151,826
Balance (shares) at Dec. 31, 2020             33,962,271 20,301,829       133,021,640
Balance (shares) at Sep. 30, 2021                       0
Balance at Dec. 31, 2020 $ 6     114,575 (241,588) 1           $ (127,006)
Balance (shares) at Dec. 31, 2020 612,850                      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Issuance of common stock upon exercise of stock options (In shares)                       111,149
Net loss                       $ (58,919)
Balance at Sep. 30, 2021 $ 344 $ 69   534,839 (300,507)             234,745
Balance (shares) at Sep. 30, 2021 34,449,154 6,903,379                    
Balance at Mar. 31, 2021                       $ 233,832
Balance (shares) at Mar. 31, 2021                       155,521,633
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Issuance costs                 $ (64) $ (1)    
Accretion of redeemable convertible preferred stock to redemption value                       $ 1,184
Cumulative redeemable convertible preferred stock dividends                       885
Balance at Jun. 30, 2021                       235,836
Balance at Mar. 31, 2021 $ 9     112,632 (263,689) 1           (151,047)
Balance (shares) at Mar. 31, 2021 929,171                      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Issuance of common stock upon exercise of stock options $ 1     31               32
Issuance of common stock upon exercise of stock options (In shares) 37,146                      
Accretion of redeemable convertible preferred stock to redemption value       (1,184)               (1,184)
Cumulative redeemable convertible preferred stock dividends       (885)               (885)
Stock based compensation expense       390               390
Net loss         (11,831)             (11,831)
Other comprehensive income           $ (1)           (1)
Balance at Jun. 30, 2021 $ 10     110,984 (275,520)             $ (164,526)
Balance (shares) at Jun. 30, 2021 966,317                     155,521,633
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Accretion of redeemable convertible preferred stock to redemption value                       $ (210)
Conversion of preferred stock to common stock                       (236,077)
Accretion of redeemable convertible preferred stock to redemption value       210               210
Cumulative redeemable convertible preferred stock dividends                       $ 451
Balance (shares) at Sep. 30, 2021                       0
Increase (Decrease) in Stockholders' Equity [Roll Forward]                        
Issuance of common stock upon exercise of stock options       15               $ 15
Issuance of common stock upon exercise of stock options (In shares) 6,595                      
Cumulative redeemable convertible preferred stock dividends       (451)               (451)
Conversion of preferred stock to common stock $ 242 $ 69 $ 23,760 235,766             $ 23,760 236,077
Conversion of preferred stock to common stock (in shares) 24,200,920 6,903,379                    
Issuance of class A common stock in initial public offering, net of issuance costs of $16,087 $ 90     163,955               164,045
Issuance of class A common stock in initial public offering, net of issuance costs of $16,087 (in shares) 9,006,604                      
RSA liability accretion       5               5
Issuance of common stock upon exercise of common stock warrants $ 2     11               13
Issuance of common stock upon exercise of common stock warrants (in shares) 268,718                      
Stock based compensation expense       584               584
Net loss         (24,987)             (24,987)
Balance at Sep. 30, 2021 $ 344 $ 69   $ 534,839 $ (300,507)             $ 234,745
Balance (shares) at Sep. 30, 2021 34,449,154 6,903,379                    
Increase (Decrease) in Temporary Equity [Roll Forward]                        
Conversion of preferred stock to common stock (in shares)                       (155,521,633)