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STOCKHOLDERS' EQUITY - Schedule of Stock Option Activity (Details) - Stock Option Plans - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Number of Shares Subject to Issuance    
Outstanding, beginning balance (in shares) 1,120,244  
Granted (in shares) 502,507  
Forfeited, cancelled, or expired (in shares) (420,707)  
Outstanding, ending balance (in shares) 1,202,044 1,120,244
Exercisable at end of period (in shares) 475,681  
Weighted- average Exercise Price    
Outstanding, beginning balance (in dollars per share) $ 3.68  
Granted (in dollars per share) 3.02  
Forfeited, cancelled, or expired (in dollars per share) 4.06  
Outstanding, ending balance (in dollars per share) 2.52 $ 3.68
Exercisable at end of period (in dollars per share) $ 3.90  
Weighted- average Remaining Contractual Term    
Outstanding 3 years 5 months 26 days 3 years 6 months
Exercisable at end of period 2 years 2 months 19 days  
Aggregate Intrinsic Value    
Outstanding $ 214 $ 84
Exercisable at end of period $ 214