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EQUITY INCENTIVE PLAN - Summary of Stock-Based Compensation Expenses by Function (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Employee Service Stock-based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total stock-based compensation expense $ 1,126 $ 4,111
Cost of Sales    
Employee Service Stock-based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total stock-based compensation expense 23 16
Research and Development    
Employee Service Stock-based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total stock-based compensation expense 206 781
Sales and Marketing    
Employee Service Stock-based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total stock-based compensation expense 38 96
General and Administrative    
Employee Service Stock-based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total stock-based compensation expense $ 859 $ 3,218