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STOCK AWARDS, WARRANTS AND OPTIONS - Stock options outstanding and exercisable (Details)
12 Months Ended
Dec. 31, 2023
$ / shares
shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Outstanding, Options (shares) | shares 8,227,404
Outstanding, Weighted Average Exercise Price $ 3.46
Exercisable, Option (Shares) | shares 4,248,136
Exercisable, Weighted Average Exercise Price $ 2.88
Range One [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Range of Exercise Prices, lower range $ 1.39
Outstanding, Options (shares) | shares 1,600,054
Outstanding, Weighted Average Term 5 years 8 months 15 days
Outstanding, Weighted Average Exercise Price $ 1.39
Exercisable, Option (Shares) | shares 1,544,732
Exercisable, Weighted Average Term 5 years 8 months 8 days
Exercisable, Weighted Average Exercise Price $ 1.39
Range Two [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Range of Exercise Prices, lower range 2.54
Range of Exercise Prices, upper range $ 3.41
Outstanding, Options (shares) | shares 1,889,562
Outstanding, Weighted Average Term 8 years 1 month 20 days
Outstanding, Weighted Average Exercise Price $ 3.19
Exercisable, Option (Shares) | shares 845,993
Exercisable, Weighted Average Term 8 years
Exercisable, Weighted Average Exercise Price $ 3.18
Range Three [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Range of Exercise Prices, lower range 3.61
Range of Exercise Prices, upper range $ 3.85
Outstanding, Options (shares) | shares 3,004,621
Outstanding, Weighted Average Term 8 years 2 months 1 day
Outstanding, Weighted Average Exercise Price $ 3.80
Exercisable, Option (Shares) | shares 1,601,850
Exercisable, Weighted Average Term 7 years 10 months 6 days
Exercisable, Weighted Average Exercise Price $ 3.79
Range Four [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Range of Exercise Prices, lower range 4.11
Range of Exercise Prices, upper range $ 7.14
Outstanding, Options (shares) | shares 1,733,167
Outstanding, Weighted Average Term 9 years 7 days
Outstanding, Weighted Average Exercise Price $ 5.08
Exercisable, Option (Shares) | shares 255,561
Exercisable, Weighted Average Term 7 years 5 months 26 days
Exercisable, Weighted Average Exercise Price $ 5.16