STOCK BASED COMPENSATION AND WARRANTS - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Shares (in thousands)
Outstanding, beginning (in shares)	3,632	4,194	5,104
Options granted (in shares)	433	305	1,321
Options exercised (in shares)	(561)	(653)	(2,042)
Options cancelled/forfeited/expired (in shares)	(291)	(214)	(189)
Outstanding, ending (in shares)	3,213	3,632	4,194	5,104
Exercisable (in shares)	1,897	1,922	1,716
Weighted Average Exercise Price
Outstanding, beginning - weighted average exercise price (in dollars per share)	$ 2.46	$ 1.73	$ 1.80
Options granted - weighted average exercise price (in dollars per share)	6.46	10.03	1.93
Options exercised - weighted average exercise price (in dollars per share)	1.68	1.65	1.50
Options cancelled/forfeited/expired - weighted average exercise price (in dollars per share)	2.36	1.48	1.40
Outstanding, ending - weighted average exercise price (in dollars per share)	3.14	2.46	1.73	$ 1.80
Exercisable - weighted average exercise price (in dollars per share)	$ 2.13	$ 1.87	$ 1.98
Weighted Average Remaining Contractual Life (in Years)
Outstanding - weighted average remaining contractual life	5 years 7 months 13 days	5 years 7 months 13 days	6 years 4 months 13 days	5 years 6 months 18 days
Options granted - weighted average remaining contractual life (in years)	9 years 4 months 6 days	7 years 3 months	9 years
Options exercised - weighted average remaining contractual life	3 years 5 months 12 days	6 years 2 months 12 days
Exercisable - weighted average remaining contractual life	4 years 1 month 9 days	3 years 11 months 8 days	4 years 10 months 2 days
Grant Date Fair Value (in thousands)
Outstanding, beginning - grant date fair value	$ 6,614	$ 4,682	$ 4,902
Options granted - grant date fair value	2,373	2,982	2,067
Options exercised - grant date fair value	(563)	(756)	(2,140)
Options cancelled/forfeited/expired - grant date fair value	(663)	(294)	(147)
Outstanding, ending - grant date fair value	7,761	6,614	4,682	$ 4,902
Exercisable - grant date fair value	2,621	2,138	1,707
Aggregate Intrinsic Value (in thousands)
Outstanding, beginning - aggregate intrinsic value	19,069	15,951	1,433
Outstanding, ending - aggregate intrinsic value	7,681	19,069	15,951	$ 1,433
Exercisable - aggregate intrinsic value	$ 7,681	$ 19,069	$ 15,951