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STOCK-BASED COMPENSATION - Employee Stock Purchase Plan - Additional Information (Details) - USD ($) | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Jun. 25, 2009
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Proceeds from common stock issued | $ 441,000 | $ 364,000 | $ 1,440,000 | $ 1,142,000 |
Employee Stock Purchase Plan (ESPP) [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Reserved for issuance (in shares) |  |  |  |  | 1,000,000
Purchase period (in months) |  |  | three-month |  |
Percentage of market value (in hundredths) |  |  | 85.00% |  |
Maximum allocation of base compensation (in hundredths) |  |  | 10.00% |  |
Maximum shares per purchase date (in shares) |  |  | 12,500 |  |
Maximum value per calendar year, per employee |  |  | $ 25,000 |  |
Common stock issued (in shares) |  |  | 6,508 | 7,702 |
Proceeds from common stock issued |  |  | $ 1,100,000 | $ 869,000 |
Employee Stock Purchase Plan (ESPP) [Member] | Selling, General and Administrative Expense [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Charges to expense | 20,000 | 21,000 | 78,000 | 81,000 |
Employee Stock Purchase Plan (ESPP) [Member] | Research and Development Expense [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Charges to expense | 46,000 | 34,000 | 140,000 | 107,000 |
Employee Stock Purchase Plan (ESPP) [Member] | Cost of Sales [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Charges to expense | $ 25,000 | $ 29,000 | $ 86,000 | $ 85,000 |

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- Definition The maximum percentage of employees' base compensation that can be allocated under the plan. + References No definition available. + Details
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- Definition The maximum number of shares that may be purchased on a given purchase date, under the plan. + References No definition available. + Details
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- Definition The maximum value of shares that may be purchased by a single employee during a given calendar year, under the plan. + References No definition available. + Details
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- Definition The percentage of the lesser of the price per share of common stock on the first day of the purchase period, or the last day of the purchase period, at which eligible employees may purchase shares under the plan. + References No definition available. + Details
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