audacious

Online Etymology
audacious (adj.)
1540s, "confident, intrepid," from Middle French audacieux, from audace "boldness," from Latin audacia "daring, boldness, courage," from audax "brave, bold, daring," but more often "bold" in a bad sense, "audacious, rash, foolhardy," from audere "to dare, be bold." Bad sense of "shameless" is attested from 1590s in English. Related: Audaciously.