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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