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STOCK-BASED COMPENSATION - Summary of Total Stock-Based Compensation Expense for Options, RSUs and ESPP Included in Consolidated Statements of Operations (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | $ 57,740 | $ 54,527 | $ 41,515
Cost of revenue |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | 2,153 | 1,896 | 27
Research and development |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | 6,976 | 5,565 | 7,727
Selling, general and administrative |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | $ 48,611 | $ 47,066 | $ 33,761

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