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Consolidated Statements of Redeemable Converted Preferred Stock and Stockholders’ Equity (Deficit) - USD ($)
$ in Thousands
Total
IPO
Common Stock
Common Stock
IPO
Additional Paid-in Capital
Additional Paid-in Capital
IPO
Accumulated Other Comprehensive Income (Loss)
Accumulated Deficit
Temporary equity, beginning balance (in shares) at Dec. 31, 2020 127,082,605              
Temporary equity, beginning balance at Dec. 31, 2020 $ 387,707              
Redeemable Convertible Preferred Stock                
Issuance of Series F redeemable convertible preferred stock, net of issuance costs (in shares) 328,026              
Issuance of Series F redeemable convertible preferred stock, net of issuance costs $ 2,980              
Conversion of redeemable convertible preferred stock to common stock in connection with initial public offering (in shares) (127,410,631)              
Conversion of redeemable convertible preferred stock to common stock in connection with initial public offering $ (390,687)              
Temporary equity, ending balance (in shares) at Dec. 31, 2021 0              
Temporary equity, ending balance at Dec. 31, 2021 $ 0              
Beginning balance (in shares) at Dec. 31, 2020     24,289,906          
Beginning balance at Dec. 31, 2020 (211,329)   $ 2   $ 8,766   $ 591 $ (220,688)
Stockholders' Equity                
Repayment of non-recourse promissory note 3,060       3,060      
Issuance of common stock upon exercise of stock options, including early exercised options, and vesting of restricted stock units (in shares)     4,495,889          
Issuance of common stock upon exercise of stock options, including early exercised options, and vesting of restricted stock units 7,421   $ 1   7,420      
Conversion of redeemable convertible preferred stock to common stock in connection with initial public offering (in shares)     127,410,631          
Conversion of redeemable convertible preferred stock to common stock in connection with initial public offering 390,687   $ 13   390,674      
Issuance of common stock (in shares)     25,759 7,581,395        
Issuance of common stock 169 $ 305,191     169 $ 305,191    
Donation of common stock (in shares)     181,961          
Donation of common stock 6,933       6,933      
Issuance of common stock upon exercise of warrants (in shares)     254,014          
Stock-based compensation expense 17,290       17,290      
Other comprehensive income (338)           (338)  
Net loss (38,756)             (38,756)
Ending balance (in shares) at Dec. 31, 2021     164,239,555          
Ending balance at Dec. 31, 2021 $ 480,328   $ 16   739,503   253 (259,444)
Temporary equity, ending balance (in shares) at Dec. 31, 2022 0              
Temporary equity, ending balance at Dec. 31, 2022 $ 0              
Stockholders' Equity                
Issuance of common stock in connection with ESPP (in shares)     379,674          
Issuance of common stock in connection with ESPP 3,516       3,516      
Issuance of common stock upon exercise of stock options, including early exercised options, and vesting of restricted stock units (in shares)     8,458,814          
Issuance of common stock upon exercise of stock options, including early exercised options, and vesting of restricted stock units 12,271   $ 1   12,270      
Donation of common stock (in shares)     181,961          
Donation of common stock 1,972       1,972      
Taxes paid related to net shares settlement of equity awards (in shares)     (9,139)          
Taxes paid related to net shares settlement of equity awards (99)       (99)      
Stock-based compensation expense 97,114       97,114      
Other comprehensive income (996)           (996)  
Net loss (114,019)             (114,019)
Ending balance (in shares) at Dec. 31, 2022     173,250,865          
Ending balance at Dec. 31, 2022 $ 480,087   $ 17   854,276   (743) (373,463)
Temporary equity, ending balance (in shares) at Dec. 31, 2023 0              
Temporary equity, ending balance at Dec. 31, 2023 $ 0              
Stockholders' Equity                
Issuance of common stock in connection with ESPP (in shares)     631,574          
Issuance of common stock in connection with ESPP $ 6,132       6,132      
Issuance of common stock upon exercise of stock options, including early exercised options, and vesting of restricted stock units (in shares) 4,530,975   14,009,751          
Issuance of common stock upon exercise of stock options, including early exercised options, and vesting of restricted stock units $ 14,667   $ 2   14,665      
Issuance of common stock, subject to service-based vesting conditions, in connection with acquisition (in shares)     104,080          
Issuance of common stock, subject to service-based vesting conditions, in connection with acquisition 581       581      
Donation of common stock (in shares)     181,961          
Donation of common stock 4,600       4,600      
Issuance of common stock for acquisition consideration (in shares)     590,838          
Issuance of common stock for acquisition consideration $ 6,635       6,635      
Issuance of common stock upon exercise of warrants (in shares) 254,014              
Taxes paid related to net shares settlement of equity awards (in shares)     (333,117)          
Taxes paid related to net shares settlement of equity awards $ (6,702)       (6,702)      
Stock-based compensation expense 140,099       140,099      
Other comprehensive income 1,078           1,078  
Net loss (117,840)             (117,840)
Ending balance (in shares) at Dec. 31, 2023     188,435,952          
Ending balance at Dec. 31, 2023 $ 529,337   $ 19   $ 1,020,286   $ 335 $ (491,303)