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STOCK-BASED COMPENSATION - Equity Instruments Other Than Options - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value of shares withheld for tax withholding obligations $ 466,000 $ 306,000 $ 7,895,000 $ 9,150,000
Employees And Non Employee Members Of Scientific Advisory Board Member        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value of shares issued     $ 300,000 $ 300,000
Shares issued (in shares)     2,366 2,024
Director [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock awards and units vesting terms     1 year  
Fair value of shares issued $ 363,000 $ 315,000 $ 1,100,000 $ 937,000
Shares issued (in shares)     9,712 6,588
Restricted Stock [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Grants in period (shares)     110,279  
Total fair value of performance unit awards granted     $ 16,400,000  
Shares withheld for employee taxes (shares) 3,190 2,852 51,154 54,252
Shares withheld for employee taxes $ 465,000 $ 305,000 $ 7,100,000 $ 8,300,000
Restricted Stock [Member] | Selling, General and Administrative Expense [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense 2,400,000 3,400,000 7,800,000 10,800,000
Restricted Stock [Member] | Research and Development Expense [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense 1,400,000 1,500,000 4,400,000 4,600,000
Restricted Stock [Member] | Cost of Sales [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense 454,000 573,000 $ 1,400,000 1,700,000
Restricted Stock [Member] | Minimum [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock awards and units vesting terms     3 years  
Restricted Stock [Member] | Maximum [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock awards and units vesting terms     5 years  
Restricted Stock Units (RSUs) [Member] | Research and Development Expense [Member] | Non Employee Members of Scientific Advisory Board [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense 60,000 32,000 $ 188,000 $ 183,000
Performance Shares [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Grants in period (shares)     21,113  
Total fair value of performance unit awards granted     $ 12,600,000  
Shares withheld for tax withholding obligations (in shares)     5,350 5,082
Fair value of shares withheld for tax withholding obligations     $ 775,000 $ 826,000
Performance Shares [Member] | Performance-Based Vesting Requirement [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Grants in period (shares)     42,222  
Performance Shares [Member] | Incremental Performance Based [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Grants in period (shares)     84,448  
Performance Shares [Member] | Market-Based Vesting Requirement [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Grants in period (shares)     21,113  
Performance Shares [Member] | Selling, General and Administrative Expense [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense 1,500,000 1,900,000 $ 1,700,000 3,700,000
Performance Shares [Member] | Research and Development Expense [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense 607,000 488,000 982,000 873,000
Performance Shares [Member] | Cost of Sales [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense $ 376,000 $ 303,000 $ 609,000 $ 539,000