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STOCKHOLDERS’ EQUITY - Schedule of Stock-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Compensation cost recognized | $ 342 | $ 729 | $ 1,347 | $ 1,768
Selling, general & administrative |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Compensation cost recognized | 301 | 561 | 1,125 | 1,270
Research & development |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Compensation cost recognized | $ 41 | $ 168 | $ 222 | $ 498

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