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STOCKHOLDERS’ EQUITY - Schedule of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | $ 17,952 | $ 22,703
Cost of revenue |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | 1,949 | 1,758
Research and development |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | 6,705 | 8,965
Sales, general and administrative |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation expense | $ 9,299 | $ 11,980

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