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STOCK-BASED COMPENSATION - Employee Stock Purchase Plan - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Jun. 25, 2009
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Proceeds from common stock issued $ 441,000 $ 364,000 $ 1,440,000 $ 1,142,000  
Employee Stock Purchase Plan (ESPP) [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Reserved for issuance (in shares)         1,000,000
Purchase period (in months)     three-month    
Percentage of market value (in hundredths)     85.00%    
Maximum allocation of base compensation (in hundredths)     10.00%    
Maximum shares per purchase date (in shares)     12,500    
Maximum value per calendar year, per employee     $ 25,000    
Common stock issued (in shares)     6,508 7,702  
Proceeds from common stock issued     $ 1,100,000 $ 869,000  
Employee Stock Purchase Plan (ESPP) [Member] | Selling, General and Administrative Expense [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Charges to expense 20,000 21,000 78,000 81,000  
Employee Stock Purchase Plan (ESPP) [Member] | Research and Development Expense [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Charges to expense 46,000 34,000 140,000 107,000  
Employee Stock Purchase Plan (ESPP) [Member] | Cost of Sales [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Charges to expense $ 25,000 $ 29,000 $ 86,000 $ 85,000