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Consolidated Statements of Stockholders' Equity - USD ($)
$ in Thousands
Common stock
Additional paid-in capital
Accumulated other comprehensive income (loss)
Accumulated deficit
Total
Balance at Beginning of period at Dec. 31, 2019 $ 11 $ 198,829 $ (19) $ (167,859) $ 30,962
Balance at Beginning of period (in shares) at Dec. 31, 2019 11,406,221        
Vesting of common stock previously subject to repurchase   3     3
Vesting of common stock previously subject to repurchase (in shares) 306        
Vesting of share-based awards and exercise of stock options   175     $ 175
Vesting of share-based awards and exercise of stock options (in shares) 27,783       27,783
Issuance of common stock under the employee stock purchase plan   34     $ 34
Issuance of common stock under the employee stock purchase plan (in shares) 2,797        
Foreign currency translation adjustment     (52)   (52)
Stock-based compensation expense   1,976     1,976
Sale of common stock, net of underwriting discounts, commissions and offering costs $ 3 44,719     44,722
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares) 3,000,000        
Net loss       (28,794) (28,794)
Balance at Ending period at Dec. 31, 2020 $ 14 245,736 (71) (196,653) 49,026
Balance at Ending period (in shares) at Dec. 31, 2020 14,437,107        
Vesting of common stock previously subject to repurchase   1     1
Vesting of common stock previously subject to repurchase (in shares) 153        
Vesting of share-based awards and exercise of stock options $ 1 546     $ 547
Vesting of share-based awards and exercise of stock options (in shares) 89,154       77,154
Issuance of common stock under the employee stock purchase plan   38     $ 38
Issuance of common stock under the employee stock purchase plan (in shares) 3,163        
Foreign currency translation adjustment     19   19
Stock-based compensation expense   3,661     3,661
Reclassification of liability-classified stock-based compensation awards   82     82
Net loss       (33,276) (33,276)
Balance at Ending period at Dec. 31, 2021 $ 15 250,064 (52) (229,929) 20,098
Balance at Ending period (in shares) at Dec. 31, 2021 14,529,577        
Vesting of common stock previously subject to repurchase (in shares) 29        
Vesting of share-based awards and exercise of stock options   19     $ 19
Vesting of share-based awards and exercise of stock options (in shares) 44,346       3,563
Issuance of common stock under the employee stock purchase plan   50     $ 50
Issuance of common stock under the employee stock purchase plan (in shares) 4,523        
Shares withheld for employee taxes   (157)     (157)
Shares withheld for employee taxes (in shares) (13,448)        
Foreign currency translation adjustment     202   202
Stock-based compensation expense   3,989     3,989
Sale of common stock, net of underwriting discounts, commissions and offering costs $ 4 34,396     34,400
Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares) 4,600,000        
Net loss       (44,296) (44,296)
Balance at Ending period at Dec. 31, 2022 $ 19 $ 288,361 $ 150 $ (274,225) $ 14,305
Balance at Ending period (in shares) at Dec. 31, 2022 19,165,027