Annual report pursuant to Section 13 and 15(d)

SUMMARY OF BUSINESS AND SIGNIFICANT ACCOUNTING PRINCIPLES - Computation of Diluted Net Loss per Share of Common Stock (Details)

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SUMMARY OF BUSINESS AND SIGNIFICANT ACCOUNTING PRINCIPLES - Computation of Diluted Net Loss per Share of Common Stock (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-based awards and warrants      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 6,159,285 3,152,059 1,041,531
Convertible notes      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 0 779,258 0