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CONVERTIBLE PREFERRED STOCK (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2020
USD ($)
shares
Dec. 31, 2020
USD ($)
Series
$ / shares
shares
Jun. 30, 2021
USD ($)
shares
Mar. 31, 2021
USD ($)
shares
Jun. 30, 2020
USD ($)
shares
Mar. 31, 2020
USD ($)
shares
Dec. 31, 2019
USD ($)
shares
CONVERTIBLE PREFERRED STOCK [Abstract]                
Number of issued series of convertible preferred stock | Series     5          
Convertible Preferred Stock [Abstract]                
Issuance price per share (in dollars per share) | $ / shares $ 0.0001   $ 0.0001          
Shares authorized (in shares) 0   92,078,549          
Shares issued (in shares) 0   90,789,268          
Shares outstanding (in shares) 0 86,125,089 90,789,268 0 90,789,268 86,125,089 86,125,089 84,201,570
Total proceeds or exchange value | $ $ 0 $ 10,310            
Net carrying value | $ $ 0 $ 170,831 $ 195,814 $ 0 $ 195,810 $ 170,831 $ 170,843 $ 160,555
Series A [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2013          
Issuance price per share (in dollars per share) | $ / shares     $ 0.04          
Shares authorized (in shares)     25,000,000          
Shares issued (in shares)     25,000,000          
Shares outstanding (in shares)     25,000,000          
Total proceeds or exchange value | $     $ 1,000          
Issuance costs | $     0          
Net carrying value | $     $ 1,000          
Initial liquidation price per share (in dollars per share) | $ / shares     $ 0.80          
Series B [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2015          
Issuance price per share (in dollars per share) | $ / shares     $ 0.80          
Shares authorized (in shares)     31,250,000          
Shares issued (in shares)     31,250,000          
Shares outstanding (in shares)     31,250,000          
Total proceeds or exchange value | $     $ 25,000          
Issuance costs | $     0          
Net carrying value | $     $ 25,000          
Initial liquidation price per share (in dollars per share) | $ / shares     $ 0.80          
Series C [Member]                
Convertible Preferred Stock [Abstract]                
Issuance price per share (in dollars per share) | $ / shares     $ 4.61          
Shares authorized (in shares)     8,164,323          
Shares issued (in shares)     8,164,323          
Shares outstanding (in shares)     8,164,323          
Total proceeds or exchange value | $     $ 37,638          
Issuance costs | $     328          
Net carrying value | $     $ 37,310          
Initial liquidation price per share (in dollars per share) | $ / shares     $ 4.61          
Series C [Member] | Minimum [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2015          
Series C [Member] | Maximum [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2016          
Series D [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2017          
Issuance price per share (in dollars per share) | $ / shares     $ 4.71          
Shares authorized (in shares)     12,738,853          
Shares issued (in shares)     12,738,853          
Shares outstanding (in shares)     12,738,853          
Total proceeds or exchange value | $     $ 60,000          
Issuance costs | $     414          
Net carrying value | $     $ 59,586          
Initial liquidation price per share (in dollars per share) | $ / shares     $ 4.71          
Series E [Member]                
Convertible Preferred Stock [Abstract]                
Issuance price per share (in dollars per share) | $ / shares     $ 5.36          
Shares authorized (in shares)     14,925,373          
Shares issued (in shares)     13,636,092          
Shares outstanding (in shares)     13,636,092          
Total proceeds or exchange value | $     $ 73,089          
Issuance costs | $     171          
Net carrying value | $     $ 72,918          
Initial liquidation price per share (in dollars per share) | $ / shares     $ 5.36          
Series E [Member] | Minimum [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2018          
Series E [Member] | Maximum [Member]                
Convertible Preferred Stock [Abstract]                
Year of class issuance     2020          
Class A Common Stock [Member]                
Convertible Preferred Stock [Abstract]                
Exchange Ratio 0.7975              
Class B Common Stock [Member]                
Convertible Preferred Stock [Abstract]                
Exchange Ratio 0.7975