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STATEMENTS OF CHANGES IN REDEEMABLE CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS’ EQUITY (DEFICIT) - USD ($)
$ in Thousands
Total
Common Stock
Additional Paid-In Capital
Accumulated Other Comprehensive Loss
Accumulated Deficit
Series A Redeemable Convertible Preferred Stock  
Series B Redeemable Convertible Preferred Stock
Series B-1 Redeemable Convertible Preferred Stock
Beginning balance (in shares) at Dec. 31, 2019   7,600,877            
Beginning balance at Dec. 31, 2019 $ (34,548) $ 1 $ 887 $ 54 $ (35,490)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options (in shares)   28,113            
Exercise of stock options 0   0          
Vesting of common stock previously subject to vesting requirements (in shares)   5,037            
Stock-based compensation expense 180   180          
Unrealized gain (loss) on investments 61     61        
Net loss (6,554)       (6,554)      
Ending balance (in shares) at Mar. 31, 2020   7,634,027            
Ending balance at Mar. 31, 2020 (40,861) $ 1 1,067 115 (42,044)      
Preferred stock, beginning balance (in shares) at Dec. 31, 2019           1,093,019 0 0
Preferred stock, beginning balance at Dec. 31, 2019           $ 49,064 $ 0 $ 0
Increase (Decrease) in Temporary Equity [Roll Forward]                
Sale of redeemable convertible preferred stock, net of issuance costs (in shares)             550,571  
Sale of redeemable convertible preferred stock, net of issuance costs             $ 34,427  
Preferred stock, ending balance (in shares) at Mar. 31, 2020           1,093,019 550,571 0
Preferred stock, ending balance at Mar. 31, 2020           $ 49,064 $ 34,427 $ 0
Beginning balance (in shares) at Dec. 31, 2019   7,600,877            
Beginning balance at Dec. 31, 2019 (34,548) $ 1 887 54 (35,490)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Unrealized gain (loss) on investments (64)              
Net loss (24,591)              
Ending balance (in shares) at Sep. 30, 2020   7,779,280            
Ending balance at Sep. 30, 2020 (58,360) $ 1 1,730 (10) (60,081)      
Preferred stock, beginning balance (in shares) at Dec. 31, 2019           1,093,019 0 0
Preferred stock, beginning balance at Dec. 31, 2019           $ 49,064 $ 0 $ 0
Preferred stock, ending balance (in shares) at Sep. 30, 2020           1,093,019 550,571 1,319,964
Preferred stock, ending balance at Sep. 30, 2020           $ 49,064 $ 34,427 $ 82,613
Beginning balance (in shares) at Mar. 31, 2020   7,634,027            
Beginning balance at Mar. 31, 2020 (40,861) $ 1 1,067 115 (42,044)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options (in shares)   20,131            
Exercise of stock options 0   0          
Vesting of common stock previously subject to vesting requirements (in shares)   5,037            
Stock-based compensation expense 137   137          
Unrealized gain (loss) on investments (97)     (97)        
Net loss (6,208)       (6,208)      
Ending balance (in shares) at Jun. 30, 2020   7,659,195            
Ending balance at Jun. 30, 2020 (47,029) $ 1 1,204 18 (48,252)      
Preferred stock, beginning balance (in shares) at Mar. 31, 2020           1,093,019 550,571 0
Preferred stock, beginning balance at Mar. 31, 2020           $ 49,064 $ 34,427 $ 0
Increase (Decrease) in Temporary Equity [Roll Forward]                
Sale of redeemable convertible preferred stock, net of issuance costs (in shares)               1,319,964
Sale of redeemable convertible preferred stock, net of issuance costs               $ 82,618
Preferred stock, ending balance (in shares) at Jun. 30, 2020           1,093,019 550,571 1,319,964
Preferred stock, ending balance at Jun. 30, 2020           $ 49,064 $ 34,427 $ 82,618
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options (in shares)   115,048            
Exercise of stock options 214   214          
Vesting of common stock previously subject to vesting requirements (in shares)   5,037            
Stock-based compensation expense 312   312          
Unrealized gain (loss) on investments (28)     (28)        
Net loss (11,829)       (11,829)      
Ending balance (in shares) at Sep. 30, 2020   7,779,280            
Ending balance at Sep. 30, 2020 (58,360) $ 1 1,730 (10) (60,081)      
Preferred stock, ending balance (in shares) at Sep. 30, 2020           1,093,019 550,571 1,319,964
Increase (Decrease) in Temporary Equity [Roll Forward]                
Series B-1 additional issuance costs               $ (5)
Preferred stock, ending balance at Sep. 30, 2020           $ 49,064 $ 34,427 $ 82,613
Beginning balance (in shares) at Dec. 31, 2020   41,767,431            
Beginning balance at Dec. 31, 2020 309,861 $ 5 382,012 (63) (72,093)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options (in shares)   13,543            
Exercise of stock options 31   31          
Vesting of common stock previously subject to vesting requirements (in shares)   5,037            
Stock-based compensation expense 1,180   1,180          
Unrealized gain (loss) on investments (597)     (597)        
Net loss (11,813)       (11,813)      
Ending balance (in shares) at Mar. 31, 2021   41,786,011            
Ending balance at Mar. 31, 2021 298,662 $ 5 383,223 (660) (83,906)      
Beginning balance (in shares) at Dec. 31, 2020   41,767,431            
Beginning balance at Dec. 31, 2020 $ 309,861 $ 5 382,012 (63) (72,093)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options (in shares) 460,692              
Unrealized gain (loss) on investments $ (1,764)              
Net loss (52,821)              
Ending balance (in shares) at Sep. 30, 2021   42,241,981            
Ending balance at Sep. 30, 2021 261,166 $ 5 387,902 (1,827) (124,914)      
Beginning balance (in shares) at Mar. 31, 2021   41,786,011            
Beginning balance at Mar. 31, 2021 298,662 $ 5 383,223 (660) (83,906)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options (in shares)   324,342            
Exercise of stock options 1,256   1,256          
Vesting of common stock previously subject to vesting requirements (in shares)   5,037            
Stock-based compensation expense 1,727   1,727          
Unrealized gain (loss) on investments (960)     (960)        
Net loss (23,598)       (23,598)      
Ending balance (in shares) at Jun. 30, 2021   42,115,390            
Ending balance at Jun. 30, 2021 277,087 $ 5 386,206 (1,620) (107,504)      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Exercise of stock options and ESPP purchases (in shares)   124,913            
Exercise of stock options and ESPP purchases 352   352          
Vesting of common stock previously subject to vesting requirements (in shares)   1,678            
Stock-based compensation expense 1,344   1,344          
Unrealized gain (loss) on investments (207)     (207)        
Net loss (17,410)       (17,410)      
Ending balance (in shares) at Sep. 30, 2021   42,241,981            
Ending balance at Sep. 30, 2021 $ 261,166 $ 5 $ 387,902 $ (1,827) $ (124,914)