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, 2023
Dec. 31, 2022
Dec. 31, 2021
Additional disclosures      
Total unrecognized compensation costs $ 10,600    
Weighted-average recognition period of unrecognized compensation cost 2 years 5 months 12 days    
Employee stock options and Restricted Stock Units      
Shares Available For Grant      
Outstanding, beginning of period (in shares) 10,612,618    
Authorized for grant (in shares) 5,019,700    
Granted (in shares) (5,669,944)    
Cancelled and forfeited (in shares) 3,908,921    
Outstanding, end of period (in shares) 13,871,295 10,612,618  
Employee Stock Option [Member]      
Number of Shares      
Outstanding, beginning of period (in shares) 34,696,273    
Granted (in shares) 3,671,800    
Exercised/Released (in shares) (50,161)    
Cancelled and forfeited (in shares) (4,199,147)    
Outstanding, end of period (in shares) 34,118,765 34,696,273  
Vested and expected to vest (in shares) 31,373,765    
Exercisable (in shares) 24,378,890    
Weighted-Average Exercise Price      
Outstanding, beginning of period (in dollars per share) $ 2.74    
Granted (in dollars per share) 1.69    
Exercised/Released (in dollars per share) 0.97    
Cancelled and forfeited (in dollars per share) 3.29    
Outstanding, end of period (in dollars per share) 2.56 $ 2.74  
Vested and expected to vest (in dollars per share) 2.55    
Exercisable (in dollars per share) $ 2.70    
Weighted Intrinsic Value (in thousands)      
Outstanding (in thousands) $ 1,453 $ 1,605  
Vested and Expected to Vest (in thousands) 1,349    
Exercisable (in thousands) $ 403    
Number of Shares      
Granted (in shares) 3,671,800 8,179,113 6,997,981
Additional disclosures      
Number of shares vested 4,346,977 5,280,235 4,765,814
Shares vested, weighted average exercise price $ 2.34 $ 2.60 $ 2.67
Aggregate intrinsic value of options exercised $ 20 $ 200 $ 2,100
RSUs      
Number of Shares      
Outstanding, beginning of period (in shares) 1,103,653    
Granted (in shares) 1,387,600    
Exercised/Released (in shares) (435,006)    
Cancelled and forfeited (in shares) (190,356)    
Outstanding, end of period (in shares) 1,865,891 1,103,653  
Weighted-Average Grant Date Fair Value      
Outstanding, beginning of period (in dollars per share) $ 2.39    
Granted (in dollars per share) 1.80    
Exercised/Released (in dollars per share) 2.32    
Cancelled and forfeited (in dollars per share) 2.20    
Outstanding, end of period (in dollars per share) $ 1.98 $ 2.39  
Performance shares      
Number of Shares      
Outstanding, end of period (in shares) 2,745,000    
Additional disclosures      
Total unrecognized compensation costs $ 5,100