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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
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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Aggregate number of common shares reserved for future issuance.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
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-Subparagraph (SX 210.5-02.29)
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