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STOCK-BASED COMPENSATION - Employee Stock Purchase Plan - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Jun. 25, 2009
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Proceeds from common stock issued $ 703,000 $ 436,000 $ 1,944,000 $ 1,627,000  
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
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)     13,915 13,026  
Proceeds from common stock issued     $ 1,500,000 $ 1,200,000  
Employee stock purchase plan ESPP purchase period     3 months    
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 36,000 3,000 $ 105,000 86,000  
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 61,000 19,000 186,000 183,000  
Employee Stock Purchase Plan (ESPP) [Member] | Cost of Sales [Member]          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Charges to expense $ 46,000 $ 14,000 $ 121,000 $ 110,000