The Earth loses mass because hydrogen and helium (plus other elements in trace amounts compared to hydrogen and helium) escapes the Earth's atmosphere. The Earth gains mass because incoming asteroids (most of them very small) impact the Earth's atmosphere; a few make it all the way to the surface of the Earth. Whether those incoming asteroids burn up in the atmosphere or make it all the way to the surface is irrelevant; the Earth gains mass.
Whether the net result is a mass gain or mass loss is a bit up in the air; the uncertainties on both are rather large, and they overlap. The Earth might be gaining or losing a tiny bit of mass every year. That said, most research leans toward atmospheric losses being greater than mass gain from impacting asteroids, comets, and dust.
Whichever is the case, it's a bit irrelevant. Even the most extreme upper estimates on mass loss or mass accumulation are incredibly tiny compared to the mass of the Earth itself.
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