In 2002, PayPal cofounder Elon Musk established the space transportation company SpaceX. In 2010, SpaceX became the first private company to place a spacecraft into orbit and successfully recover it. The craft, called Dragon, was launched on a Falcon 9 rocket from Cape Canaveral. In 2012, Dragon became the first commercial spacecraft to successfully rendezvous with and be attached to the International Space Station (ISS). When did Dragon begin regular cargo flights to the ISS?