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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, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares Subject to Issuance      
Outstanding, beginning balance (in shares) 496,424 637,882  
Granted (in shares) 732,228 221,843  
Forfeited (in shares) (108,408) (3,000)  
Exercised (in shares) 0 (360,301)  
Outstanding, ending balance (in shares) 1,120,244 496,424 637,882
Exercisable at end of period (in shares) 366,460    
Weighted- average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 6.13 $ 2.50  
Granted (in dollars per share) 2.14 10.38  
Forfeited (in dollars per share) 4.53 2.79  
Exercised (in dollars per share) 0 2.34  
Outstanding, ending balance (in dollars per share) 3.68 $ 6.13 $ 2.50
Exercisable at end of period (in dollars per share) $ 5.35    
Weighted- average Remaining Contractual Term      
Outstanding 3 years 6 months 3 years 10 days 2 years 6 months 18 days
Exercisable at end of period 1 year 9 months 10 days    
Aggregate Intrinsic Value      
Outstanding $ 84 $ 528 $ 5,686
Exercisable at end of period $ 84