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EQUITY INCENTIVE PLAN, Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Stock-Based Compensation Expense [Abstract] |  |  |  |
Stock-based compensation expense | $ 7,396 | $ 493 | $ 17,840 | $ 1,601
Research and Development [Member] |  |  |  |
Stock-Based Compensation Expense [Abstract] |  |  |  |
Stock-based compensation expense | 1,520 | 355 | 4,343 | 1,217
General and Administrative [Member] |  |  |  |
Stock-Based Compensation Expense [Abstract] |  |  |  |
Stock-based compensation expense | 5,626 | 64 | 12,918 | 160
Sales and Marketing [Member] |  |  |  |
Stock-Based Compensation Expense [Abstract] |  |  |  |
Stock-based compensation expense | $ 250 | $ 74 | $ 579 | $ 224

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