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CONVERTIBLE PREFERRED STOCK - Summary of Authorized, Issued and Outstanding Convertible Preferred Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Jul. 06, 2021
Dec. 31, 2020
Temporary Equity [Line Items]    
Shares Authorized 129,788,828 129,788,828
Shares Issued 109,182,191 95,010,858
Shares Outstanding 109,182,191 95,010,858
Total Proceeds or Exchange Value $ 159,119 $ 128,651
Issuance Costs 372 365
Net Carrying Value $ 158,747 $ 128,286
Series A    
Temporary Equity [Line Items]    
Year of Class Issuance 2014 2014
Issuance Price per share $ 0.04 $ 0.04
Shares Authorized 25,000,000 25,000,000
Shares Issued 25,000,000 25,000,000
Shares Outstanding 25,000,000 25,000,000
Total Proceeds or Exchange Value $ 1,000 $ 1,000
Issuance Costs 2 2
Net Carrying Value $ 998 $ 998
Initial Liquidation Price per share $ 0.80 $ 0.80
Series B    
Temporary Equity [Line Items]    
Year of Class Issuance 2017 2017
Issuance Price per share $ 0.80 $ 0.80
Shares Authorized 10,625,000 10,625,000
Shares Issued 10,625,000 10,625,000
Shares Outstanding 10,625,000 10,625,000
Total Proceeds or Exchange Value $ 8,500 $ 8,500
Issuance Costs 0 0
Net Carrying Value $ 8,500 $ 8,500
Initial Liquidation Price per share $ 0.80 $ 0.80
Series C    
Temporary Equity [Line Items]    
Year of Class Issuance 2017 2017
Issuance Price per share $ 1.88 $ 1.88
Shares Authorized 31,586,210 31,586,210
Shares Issued 31,586,210 31,586,210
Shares Outstanding 31,586,210 31,586,210
Total Proceeds or Exchange Value $ 59,382 $ 59,382
Issuance Costs 234 234
Net Carrying Value $ 59,148 $ 59,148
Initial Liquidation Price per share $ 1.88 $ 1.88
Series D    
Temporary Equity [Line Items]    
Year of Class Issuance   2020
Issuance Price per share $ 2.15 $ 2.15
Shares Authorized 62,577,618 62,577,618
Shares Issued 41,970,981 27,799,648
Shares Outstanding 41,970,981 27,799,648
Total Proceeds or Exchange Value $ 90,237 $ 59,769
Issuance Costs 136 129
Net Carrying Value $ 90,101 $ 59,640
Initial Liquidation Price per share $ 2.15 $ 2.15
Series D | Minimum    
Temporary Equity [Line Items]    
Year of Class Issuance 2020  
Series D | Maximum    
Temporary Equity [Line Items]    
Year of Class Issuance 2021