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STOCKHOLDERS’ EQUITY - Summary of Common Stock Reserved for Future Issuance (Details) - shares | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Class of Stock [Line Items] |  |
Total (in shares) | 38,225,338 | 45,302,480
Common stock warrants |  |
Class of Stock [Line Items] |  |
Total (in shares) | 17,331 | 12,517,328
Series X Convertible Preferred Stock |  |
Class of Stock [Line Items] |  |
Total (in shares) | 21,044,720 | 18,184,720
Common stock options, RSUs and PRSUs issued and outstanding |  |
Class of Stock [Line Items] |  |
Total (in shares) | 12,764,068 | 9,323,495
Authorized for future stock awards |  |
Class of Stock [Line Items] |  |
Total (in shares) | 3,411,463 | 4,469,969
Awards available under the ESPP |  |
Class of Stock [Line Items] |  |
Total (in shares) | 987,756 | 806,968

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