audacious (adj.) Look up audacious at Dictionary.com
1540s, "confident, intrepid, daring," 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, "rash, foolhardy," from audere "to dare, be bold." In English, the bad sense of "shameless, unrestrained by propriety" is attested from 1590s. Related: Audaciously; audaciousness.