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Consolidated Statement of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($)
Total
Redeemable Convertible Preferred Stock
Common Stock
Additional Pain In Capital
Accumulated Deficit
Accumulated Other Comprehensive Income (Loss)
Balance at Dec. 31, 2019 $ (60,366,000)     $ 9,258,000 $ (69,647,000) $ 23,000
Balance, shares at Dec. 31, 2019     2,155,578      
Balance, temporary equity at Dec. 31, 2019   $ 114,083,000        
Balance, temporary equity, shares at Dec. 31, 2019   12,048,698        
Issuance of common stock upon exercise of stock options 42,000     42,000    
Issuance of common stock upon exercise of stock options, shares     19,947      
Stock-based compensation expense 299,000     299,000    
Net loss (4,486,000)       (4,486,000)  
Other comprehensive income (loss) (15,000)         (15,000)
Balance at Mar. 31, 2020 (64,526,000)     9,599,000 (74,133,000) 8,000
Balance, shares at Mar. 31, 2020     2,175,525      
Balance, temporary equity at Mar. 31, 2020   $ 114,083,000        
Balance, temporary equity, shares at Mar. 31, 2020   12,048,698        
Balance at Dec. 31, 2019 (60,366,000)     9,258,000 (69,647,000) 23,000
Balance, shares at Dec. 31, 2019     2,155,578      
Balance, temporary equity at Dec. 31, 2019   $ 114,083,000        
Balance, temporary equity, shares at Dec. 31, 2019   12,048,698        
Net loss (27,720,000)          
Conversion of redeemable convertible preferred stock warrants to common stock warrants 2,922,000          
Balance at Sep. 30, 2020 116,930,000   $ 1,000 214,213,000 (97,367,000) 83,000
Balance, shares at Sep. 30, 2020     19,589,637      
Balance, temporary equity at Sep. 30, 2020   $ 0        
Balance, temporary equity, shares at Sep. 30, 2020   0        
Balance at Mar. 31, 2020 (64,526,000)     9,599,000 (74,133,000) 8,000
Balance, shares at Mar. 31, 2020     2,175,525      
Balance, temporary equity at Mar. 31, 2020   $ 114,083,000        
Balance, temporary equity, shares at Mar. 31, 2020   12,048,698        
Issuance of common stock upon exercise of stock options 7,000     7,000    
Issuance of common stock upon exercise of stock options, shares     3,101      
Stock-based compensation expense 351,000     351,000    
Net loss (8,455,000)       (8,455,000)  
Other comprehensive income (loss) 189,000         189,000
Balance at Jun. 30, 2020 (72,434,000)     9,957,000 (82,588,000) 197,000
Balance, shares at Jun. 30, 2020     2,178,626      
Balance, temporary equity at Jun. 30, 2020   $ 114,083,000        
Balance, temporary equity, shares at Jun. 30, 2020   12,048,698        
Issuance of common stock upon exercise of stock options 144,000     144,000    
Issuance of common stock upon exercise of stock options, shares     100,092      
Stock-based compensation expense 2,966,000     2,966,000    
Net loss (14,779,000)       (14,779,000)  
Other comprehensive income (loss) (114,000)         (114,000)
Conversion of shares of redeemable convertible preferred stock to shares of common stock in connection with the Merger   $ (114,083,000)        
Conversion of shares of redeemable convertible preferred stock to shares of common stock in connection with the Merger, shares   (12,048,698)        
Conversion of shares of redeemable convertible preferred stock to shares of common stock in connection with the Merger 114,083,000   $ 1,000 114,082,000    
Conversion of shares of redeemable convertible preferred stock to shares of common stock in connection with the Merger, shares     12,048,671      
Exchange of common stock in connection with the Merger 84,142,000     84,142,000    
Exchange of common stock in connection with the Merger, shares     5,262,248      
Conversion of redeemable convertible preferred stock warrants to common stock warrants 2,922,000     2,922,000    
Balance at Sep. 30, 2020 116,930,000   $ 1,000 214,213,000 (97,367,000) 83,000
Balance, shares at Sep. 30, 2020     19,589,637      
Balance, temporary equity at Sep. 30, 2020   $ 0        
Balance, temporary equity, shares at Sep. 30, 2020   0        
Balance at Dec. 31, 2020 109,827,000   $ 2,000 216,126,000 (106,325,000) 24,000
Balance, shares at Dec. 31, 2020     19,677,249      
Issuance of common stock upon exercise of stock options 976,000     976,000    
Issuance of common stock upon exercise of stock options, shares     393,991      
Issuance of common stock related to financing 143,754,000   $ 1,000 143,753,000    
Issuance of common stock related to financing, shares     11,729,353      
Exercise of warrant, shares     1,806      
Stock-based compensation expense 3,043,000     3,043,000    
Net loss (21,319,000)       (21,319,000)  
Other comprehensive income (loss) (22)         (22)
Balance at Mar. 31, 2021 236,259,000   $ 3,000 363,898,000 (127,644,000) 2,000
Balance, shares at Mar. 31, 2021     31,802,399      
Balance at Dec. 31, 2020 $ 109,827,000   $ 2,000 216,126,000 (106,325,000) 24,000
Balance, shares at Dec. 31, 2020     19,677,249      
Issuance of common stock upon exercise of stock options, shares 546,642          
Net loss $ (46,186,000)          
Conversion of redeemable convertible preferred stock warrants to common stock warrants          
Balance at Sep. 30, 2021 217,224,000   $ 3,000 369,732,000 (152,511,000)  
Balance, shares at Sep. 30, 2021     31,955,050      
Balance at Mar. 31, 2021 236,259,000   $ 3,000 363,898,000 (127,644,000) 2,000
Balance, shares at Mar. 31, 2021     31,802,399      
Issuance of common stock upon exercise of stock options 279,000     279,000    
Issuance of common stock upon exercise of stock options, shares     39,603      
Stock-based compensation expense 2,659,000     2,659,000    
Net loss (10,854,000)       (10,854,000)  
Other comprehensive income (loss) (2,000)         $ (2,000)
Balance at Jun. 30, 2021 228,341,000   $ 3,000 366,836,000 (138,498,000)  
Balance, shares at Jun. 30, 2021     31,842,002      
Issuance of common stock upon exercise of stock options 367,000     367,000    
Issuance of common stock upon exercise of stock options, shares     113,048      
Stock-based compensation expense 2,529,000     2,529,000    
Net loss (14,013,000)       (14,013,000)  
Balance at Sep. 30, 2021 $ 217,224,000   $ 3,000 $ 369,732,000 $ (152,511,000)  
Balance, shares at Sep. 30, 2021     31,955,050