Annual report pursuant to Section 13 and 15(d)

STOCK BASED COMPENSATION - Stock-based Compensation Expense (Details)

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STOCK BASED COMPENSATION - Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award      
Total stock based compensation expense $ 33,177 $ 48,785 $ 28,778
Restructuring charges $ 37,488 14,270  
2020 Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Shares available for grant 28,210,509    
2022 Bonus Program      
Share-based Compensation Arrangement by Share-based Payment Award      
Total stock based compensation expense $ 2,000 800  
Research and development      
Share-based Compensation Arrangement by Share-based Payment Award      
Total stock based compensation expense 14,877 24,394 11,446
Restructuring charges 5,700 8,485  
General and administrative expense      
Share-based Compensation Arrangement by Share-based Payment Award      
Total stock based compensation expense 13,486 16,748 10,939
Restructuring charges 709 998  
Sales and marketing expense      
Share-based Compensation Arrangement by Share-based Payment Award      
Total stock based compensation expense 2,552 5,386 4,593
Restructuring charges 874 1,131  
Cost of sales      
Share-based Compensation Arrangement by Share-based Payment Award      
Total stock based compensation expense 2,262 2,257 $ 1,800
Restructuring charges $ 30,205 3,273  
Stock-based compensation expense      
Share-based Compensation Arrangement by Share-based Payment Award      
Restructuring charges   $ 7,300