Annual report pursuant to Section 13 and 15(d)

STOCK-BASED COMPENSATION - Options and RSUs (Details)

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STOCK-BASED COMPENSATION - Options and RSUs (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Additional disclosures      
Total unrecognized compensation costs $ 14,100    
Weighted-average recognition period of unrecognized compensation cost 2 years 6 months 18 days    
Employee stock options and Restricted Stock Units      
Shares Available For Grant      
Outstanding, beginning of period (in shares) 10,715,312    
Authorized for grant (in shares) 7,080,000    
Granted (in shares) (9,880,277)    
Cancelled and forfeited (in shares) 2,697,583    
Outstanding, end of period (in shares) 10,612,618 10,715,312  
Employee stock options      
Number of Shares      
Outstanding, beginning of period (in shares) 30,008,665    
Granted (in shares) 8,179,113    
Exercised/Released (in shares) 433,318    
Cancelled and forfeited (in shares) (3,058,187)    
Outstanding, end of period (in shares) 34,696,273 30,008,665  
Vested and expected to vest (in shares) 32,473,773    
Exercisable (in shares) 22,669,120    
Weighted-Average Exercise Price      
Outstanding, beginning of period (in dollars per share) $ 3.13    
Granted (in dollars per share) 1.96    
Exercised/Released (in dollars per share) 2.23    
Cancelled and forfeited (in dollars per share) 4.54    
Outstanding, end of period (in dollars per share) 2.74 $ 3.13  
Vested and expected to vest (in dollars per share) 2.73    
Exercisable (in dollars per share) $ 2.91    
Weighted Intrinsic Value (in thousands)      
Outstanding (in thousands) $ 1,605 $ 6,812  
Vested and Expected to Vest (in thousands) 1,493    
Exercisable (in thousands) $ 2    
Number of Shares      
Granted (in shares) 8,179,113 6,997,981 8,462,090
Additional disclosures      
Number of shares vested 5,280,235 4,765,814 4,386,910
Shares vested, weighted average exercise price $ 2.60 $ 2.67 $ 2.41
Aggregate intrinsic value of options exercised $ 200 $ 2,100 $ 500
RSUs      
Number of Shares      
Outstanding, beginning of period (in shares) 226,250    
Granted (in shares) 1,181,362    
Exercised/Released (in shares) (216,250)    
Cancelled and forfeited (in shares) (87,709)    
Outstanding, end of period (in shares) 1,103,653 226,250  
Weighted-Average Grant Date Fair Value      
Outstanding, beginning of period (in dollars per share) $ 3.67    
Granted (in dollars per share) 2.36    
Exercised/Released (in dollars per share) 3.59    
Cancelled and forfeited (in dollars per share) 2.42    
Outstanding, end of period (in dollars per share) $ 2.39 $ 3.67  
Performance shares      
Number of Shares      
Outstanding, end of period (in shares) 2,222,500    
Additional disclosures      
Total unrecognized compensation costs $ 4,300