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STOCKHOLDERS' EQUITY - Schedule of Stock Option Activity (Details) - Stock Option Plans - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Number of Shares Subject to Issuance      
Outstanding, beginning balance (in shares) 1,152,714 1,120,244  
Granted (in shares) 650,978 627,507  
Forfeited (in shares) (472,713) (595,037)  
Exercised (in shares) (179,875)    
Outstanding, ending balance (in shares) 1,151,104 1,152,714 1,120,244
Exercisable at end of period (in shares) 434,877    
Weighted- average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 3.07 $ 3.68  
Granted (in dollars per share) 2.00 2.91  
Forfeited (in dollars per share) 2.42 4.05  
Exercised (in dollars per share) 1.72    
Outstanding, ending balance (in dollars per share) 2.94 $ 3.07 $ 3.68
Exercisable at end of period (in dollars per share) $ 4.07    
Weighted- average Remaining Contractual Term      
Outstanding 3 years 10 months 17 days 3 years 2 months 4 days 3 years 6 months
Exercisable at end of period 2 years 7 months 20 days    
Aggregate Intrinsic Value      
Outstanding $ 536 $ 38 $ 84
Exercisable at end of period $ 115