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STOCKHOLDERS' EQUITY - Summary of Common Stock Issued and Reserved for Issuance (Details) - shares shares in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Jul. 31, 2018
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Stockholders Deficit [Line Items] |  |  |
Shares of common stock issued | 29,092 | 27,268 |
Shares of common stock reserved for issuance for: |  |  |
Total shares of common stock issued and reserved for issuance | 36,076 | 34,734 |
Common stock warrants |  |  |
Shares of common stock reserved for issuance for: |  |  |
Shares of common stock reserved for issuance | 41 | 61 |
Employee Stock Option |  |  |
Shares of common stock reserved for issuance for: |  |  |
Shares of common stock reserved for issuance | 1,270 | 1,301 |
Restricted stock units outstanding |  |  |
Shares of common stock reserved for issuance for: |  |  |
Shares of common stock reserved for issuance | 3,360 | 3,901 |
Shares available for grant under stock incentive plans |  |  |
Shares of common stock reserved for issuance for: |  |  |
Shares of common stock reserved for issuance | 978 | 1,140 |
Shares available for sale under employee stock purchase plan |  |  |
Shares of common stock reserved for issuance for: |  |  |
Shares of common stock reserved for issuance | 1,335 | 1,063 | 200

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