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Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands | Total | Common Stock | Additional Paid-in Capital | Accumulated Deficit
--- | --- | --- | --- | ---
Beginning Balance at Dec. 31, 2021 | $ 303,129 | $ 4 | $ 471,449 | $ (168,324)
Beginning Balance, shares at Dec. 31, 2021 |  | 39,736,914 |  |
Issuance of common stock upon exercise of stock options | 1,315 |  | 1,315 |
Issuance of common stock upon exercise of stock options, shares |  | 126,176 |  |
Issuance of common stock for cashless exercise of warrants, shares |  | 100,731 |  |
Issuance of common stock upon vesting of restricted stock |  | 548,580 |  |
Shares withheld for taxes |  | (215,901) |  |
Shares withheld for taxes, Value | (3,234) |  | (3,234) |
Purchase of common stock under Employee Stock Purchase Plan | 432 |  | 432 |
Purchase of common stock under Employee Stock Purchase Plan, shares |  | 46,597 |  |
Issuance of common stock pursuant to at-the-market offering, net of issuance costs of $1.6 million,shares |  | 2,611,723 |  |
issuance of common stock pursuant to at-the-market offering, net of issuance costs of $1.6 million,value | 43,360 |  | 43,360 |
Stock-based compensation expense | 17,126 |  | 17,126 |
Net loss | (69,790) |  |  | (69,790)
Ending Balance at Dec. 31, 2022 | 292,338 | $ 4 | 530,448 | (238,114)
Ending Balance, shares at Dec. 31, 2022 |  | 42,954,820 |  |
Issuance of common stock upon exercise of stock options | $ 4 |  | 4 |
Issuance of common stock upon exercise of stock options, shares | 946 | 946 |  |
Issuance of common stock upon vesting of restricted stock |  | 194,455 |  |
Shares withheld for taxes |  | (86,145) |  |
Shares withheld for taxes, Value | $ (150) |  | (150) |
Purchase of common stock under Employee Stock Purchase Plan | 382 |  | 382 |
Purchase of common stock under Employee Stock Purchase Plan, shares |  | 206,310 |  |
Stock-based compensation expense | 20,259 |  | 20,259 |
Net loss | (142,658) |  |  | (142,658)
Ending Balance at Dec. 31, 2023 | $ 170,175 | $ 4 | $ 550,943 | $ (380,772)
Ending Balance, shares at Dec. 31, 2023 |  | 43,270,386 |  |

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