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Consolidated Statements of Stockholders’ Equity - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-In Capital
Accumulated Other Comprehensive Income
Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020   35,693,753      
Beginning balance at Dec. 31, 2020 $ 226,134 $ 36 $ 467,147 $ 1,685 $ (242,734)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon vesting of restricted stock unit (in shares) 40,908        
Issuance of common stock upon exercise of stock options (in shares) 1,065,567 1,065,567      
Issuance of common stock upon exercise of stock options $ 1,881 $ 1 1,880    
Repurchase of early exercised common stock options (in shares)   (12,945)      
Change in shares subject to repurchase 204   204    
Issuance of shares pursuant to Employee Stock Purchase Plan (in shares)   144,479      
Issuance of shares pursuant to Employee Stock Purchase Plan 2,652   2,652    
Stock-based compensation expense 11,002   11,002    
Currency translation adjustment 51     51  
Change in unrealized losses on marketable securities (24)     (24)  
Net loss $ (48,661)       (48,661)
Ending balance (in shares) at Dec. 31, 2021 36,931,762 36,931,762      
Ending balance at Dec. 31, 2021 $ 193,239 $ 37 482,885 1,712 (291,395)
Increase (Decrease) in Stockholders' Equity [Roll Forward]          
Issuance of common stock upon vesting of restricted stock unit (in shares) 251,133        
Issuance of common stock upon exercise of stock options (in shares) 297,463 297,463      
Issuance of common stock upon exercise of stock options $ 635 $ 1 634    
Repurchase of early exercised common stock options (in shares)   (14,459)      
Change in shares subject to repurchase 227   227    
Issuance of shares pursuant to Employee Stock Purchase Plan (in shares)   89,666      
Issuance of shares pursuant to Employee Stock Purchase Plan 1,942   1,942    
Stock-based compensation expense 17,024   17,024    
Currency translation adjustment 150     150  
Change in unrealized losses on marketable securities (287)     (287)  
Net loss $ (58,923)       (58,923)
Ending balance (in shares) at Dec. 31, 2022 37,555,565 37,555,565      
Ending balance at Dec. 31, 2022 $ 154,007 $ 38 $ 502,712 $ 1,575 $ (350,318)