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STOCKHOLDERS’ EQUITY - Schedule of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 19,691 | $ 18,936 | $ 55,534 | $ 60,658
Cost of revenue |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 1,125 | 934 | 4,251 | 3,680
Research and development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 6,182 | 7,519 | 18,310 | 24,232
Sales, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 12,384 | $ 10,483 | $ 32,973 | $ 32,746

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