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CONDENSED CONSOLIDATED STATEMENTS OF COVERTIBLE PREFERRED STOCK AND STOCKHOLDERS' EQUITY - USD ($) | Series A Convertible Preferred Stock | Series B Convertible Preferred Stock | 2020 Public offering Common Stock | 2020 Public offering Additional Paid- In Capital | 2020 Public offering | Lincoln Park Capital Commitment Purchase Agreement Offering Member Common Stock | 2019 Public Offering Common Stock | 2019 Public Offering Additional Paid- In Capital | 2019 Public Offering | Lincoln Park Capital Registered Offering Purchase Agreement Offering Member Common Stock | Lincoln Park Capital Registered Offering Purchase Agreement Offering Member Additional Paid- In Capital | Lincoln Park Capital Registered Offering Purchase Agreement Offering Member | Common Stock | Additional Paid- In Capital | Accumulated Other Comprehensive Income (loss) | Accumulated Deficit | Total
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Balance at the beginning of the period (in shares) at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  |  |  | 14,703,159 |  |  |  |
Increase (Decrease) in Shares Outstanding |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock through ATM sales (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 1,033,147 |  |  |  |
Issuance of Series A & B Convertible Preferred Stock, net of underwriting discounts (in shares) |  |  |  |  |  | 330,000 | 7,557,142 |  |  | 571,429 |  |  |  |  |  |  |
Balance at the end of the period (in shares) at Sep. 30, 2019 |  |  |  |  |  |  |  |  |  |  |  |  | 24,194,877 |  |  |  |
Balance at the beginning of the period at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  |  |  | $ 15,000 | $ 162,393,000 | $ 302,000 | $ (153,535,000) | $ 9,175,000
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock through ATM sales |  |  |  |  |  |  |  |  |  |  |  |  | 1,000 | 1,922,000 |  |  | 1,923,000
To record ATM issuance costs in additional paid-in-capital |  |  |  |  |  |  |  |  |  |  |  |  |  | (13,000) |  |  | (13,000)
Issuance of Series A & B Convertible Preferred Stock, net of underwriting discounts |  |  |  |  |  |  | $ 7,000 | $ 12,115,000 | $ 12,122,000 | $ 1,000 | $ 989,000 | $ 990,000 |  |  |  |  |
Reclassification of 2017 warrants from liability to equity |  |  |  |  |  |  |  |  |  |  |  |  |  | 11,822,000 |  | (8,374,000) | 3,448,000
Dividend attributable to down round feature of 2017 warrants |  |  |  |  |  |  |  |  | $ 359,000 |  |  |  |  | 359,000 |  | (359,000) | 359,000
Foreign currency translation adjustment |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 25,000 |  | 25,000
Stock-based compensation |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,796,000 |  |  | 2,796,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (24,904,000) | (24,904,000)
Balance at the end of the period at Sep. 30, 2019 |  |  |  |  |  |  |  |  |  |  |  |  | $ 24,000 | 192,383,000 | 327,000 | (187,172,000) | 5,562,000
Balance at the beginning of the period (in shares) at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  |  |  | 14,703,159 |  |  |  |
Balance at the end of the period (in shares) at Dec. 31, 2019 | 0 | 0 |  |  |  |  |  |  |  |  |  |  | 24,194,877 |  |  |  |
Balance at the beginning of the period at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  |  |  | $ 15,000 | 162,393,000 | 302,000 | (153,535,000) | 9,175,000
Balance at the end of the period at Dec. 31, 2019 | $ 0 | $ 0 |  |  |  |  |  |  |  |  |  |  | $ 24,000 | 193,319,000 | 76,000 | (195,168,000) | (1,749,000)
Balance at the beginning of the period (in shares) at Jun. 30, 2019 |  |  |  |  |  |  |  |  |  |  |  |  | 22,949,064 |  |  |  |
Increase (Decrease) in Shares Outstanding |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock through ATM sales (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 344,384 |  |  |  |
Issuance of Series A & B Convertible Preferred Stock, net of underwriting discounts (in shares) |  |  |  |  |  |  |  |  |  | 571,429 |  |  |  |  |  |  |
Balance at the end of the period (in shares) at Sep. 30, 2019 |  |  |  |  |  |  |  |  |  |  |  |  | 24,194,877 |  |  |  |
Balance at the beginning of the period at Jun. 30, 2019 |  |  |  |  |  |  |  |  |  |  |  |  | $ 23,000 | 189,831,000 | 322,000 | (179,237,000) | 10,939,000
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock through ATM sales |  |  |  |  |  |  |  |  |  |  |  |  |  | 617,000 |  |  | 617,000
To record ATM issuance costs in additional paid-in-capital |  |  |  |  |  |  |  |  |  |  |  |  |  | (4,000) |  |  | (4,000)
Issuance of Series A & B Convertible Preferred Stock, net of underwriting discounts |  |  |  |  |  | $ 330,000 |  |  |  | $ 1,000 | $ 989,000 | $ 990,000 |  |  |  |  |
Foreign currency translation adjustment |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 5,000 |  | 5,000
Stock-based compensation |  |  |  |  |  |  |  |  |  |  |  |  |  | 950,000 |  |  | 950,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (7,935,000) | (7,935,000)
Balance at the end of the period at Sep. 30, 2019 |  |  |  |  |  |  |  |  |  |  |  |  | $ 24,000 | 192,383,000 | 327,000 | (187,172,000) | $ 5,562,000
Balance at the beginning of the period (in shares) at Dec. 31, 2019 | 0 | 0 |  |  |  |  |  |  |  |  |  |  | 24,194,877 |  |  |  |
Increase (Decrease) in Shares Outstanding |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of Series A Convertible Preferred Stock to prefunded warrants (in shares) | (1,421,801) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of Series B Convertible Preferred Stock to common stock (in shares) |  | (1,137,442) |  |  |  |  |  |  |  |  |  |  | 11,374,420 |  |  |  |
Issuance of Series A & B Convertible Preferred Stock, net of underwriting discounts (in shares) | 1,421,801 | 1,137,442 | 23,625,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon exercise of warrant (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 273,954 |  |  |  |
Issuance of common stock upon exercise of stock options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 32,778 |  |  |  | 32,778
Balance at the end of the period (in shares) at Sep. 30, 2020 | 0 | 0 |  |  |  |  |  |  |  |  |  |  | 59,657,742 |  |  |  |
Balance at the beginning of the period at Dec. 31, 2019 | $ 0 | $ 0 |  |  |  |  |  |  |  |  |  |  | $ 24,000 | 193,319,000 | 76,000 | (195,168,000) | $ (1,749,000)
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon exercise of warrants |  |  |  |  |  |  |  |  |  |  |  |  |  | 348,000 |  |  | 348,000
Series A & B Convertible Preferred Stock discount - beneficial conversion feature | 5,226,000 | 4,173,000 |  |  |  |  |  |  |  |  |  |  |  | (9,399,000) |  |  | (9,399,000)
Issuance of Series A & B Convertible Preferred Stock, net of underwriting discounts | 14,062,000 | 11,260,000 | $ 24,000 | $ 48,252,000 | $ 48,276,000 |  |  |  |  |  |  |  |  |  |  |  |
Series A & B Convertible Preferred Stock accrued dividends | (207,000) | (165,000) |  |  |  |  |  |  |  |  |  |  |  | (372,000) |  |  | (372,000)
Conversion of Series A & B Convertible Preferred Stock dividends to prefunded warrants and common stock | (207,000) | (165,000) |  |  |  |  |  |  |  |  |  |  | $ 1,000 | 371,000 |  |  | 372,000
Conversion of Series A & B Convertible Preferred Stock dividends to prefunded warrants and common stock |  |  |  |  |  |  |  |  |  |  |  |  | 156,713 |  |  |  |
Conversion of Series A Convertible Preferred Stock to prefunded warrants | 8,836,000 |  |  |  |  |  |  |  |  |  |  |  |  | (8,836,000) |  |  | (8,836,000)
Conversion of Series B Convertible Preferred Stock to common stock |  | (7,087,000) |  |  |  |  |  |  |  |  |  |  | $ 11,000 | 7,076,000 |  |  | 7,087,000
Dividend attributable to down round feature of 2017 warrants |  |  |  |  |  |  |  |  |  |  |  |  |  | 303,000 |  | (303,000) | 303,000
Issuance of common stock upon exercise of stock options |  |  |  |  |  |  |  |  |  |  |  |  |  | 51,000 |  |  | 51,000
Foreign currency translation adjustment |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (163,000) |  | (163,000)
Stock-based compensation |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,857,000 |  |  | 1,857,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (20,804,000) | (20,804,000)
Balance at the end of the period at Sep. 30, 2020 | $ 0 | $ 0 |  |  |  |  |  |  |  |  |  |  | $ 60,000 | 269,440,000 | (87,000) | (216,275,000) | 53,138,000
Balance at the beginning of the period (in shares) at Jun. 30, 2020 | 0 | 0 |  |  |  |  |  |  |  |  |  |  | 59,657,742 |  |  |  |
Balance at the end of the period (in shares) at Sep. 30, 2020 | 0 | 0 |  |  |  |  |  |  |  |  |  |  | 59,657,742 |  |  |  |
Balance at the beginning of the period at Jun. 30, 2020 | $ 0 | $ 0 |  |  |  |  |  |  |  |  |  |  | $ 60,000 | 268,770,000 | 121,000 | (209,218,000) | 59,733,000
Increase (Decrease) in Stockholders' Equity |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Foreign currency translation adjustment |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (208,000) |  | (208,000)
Stock-based compensation |  |  |  |  |  |  |  |  |  |  |  |  |  | 670,000 |  |  | 670,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (7,057,000) | (7,057,000)
Balance at the end of the period at Sep. 30, 2020 | $ 0 | $ 0 |  |  |  |  |  |  |  |  |  |  | $ 60,000 | $ 269,440,000 | $ (87,000) | $ (216,275,000) | $ 53,138,000

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