Quarterly report pursuant to Section 13 or 15(d)

FAIR VALUE MEASUREMENTS - Narrative (Details)

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FAIR VALUE MEASUREMENTS - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Jun. 24, 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]          
Unrealized gain (loss) due to change in fair value of equity securities     $ (286,000) $ (6,172,000)  
Other investments in convertible debt instruments $ 2,000,000.0   2,000,000.0    
Recognized gains on convertible debt instruments 0 $ 0 0 800,000  
Change in fair value of contingent consideration   300,000   254,000  
Transfers from Level 1 to Level 2 0 0 0 0  
Transfers from Level 2 to Level 1 0 0 0 0  
Transfer into Level 3     0 0  
Transfer out of Level 3     0 0  
Repayments of Debt     337,000 421,000  
Business Combination, Consideration Transferred [Abstract]          
Current portion of contingent consideration   2,587,000   2,587,000  
Convertible Notes          
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]          
Repayments of Debt   3,100,000   3,100,000  
Interest and other (expense) income, net          
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]          
Unrealized gain (loss) due to change in fair value of equity securities (100,000) $ (300,000) (300,000) (6,200,000)  
Aerosint          
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]          
Change in fair value of contingent consideration     0    
Remaining contingent consideration 200,000   200,000    
Business Combination, Consideration Transferred [Abstract]          
Fair value of contingent consideration         $ 6,100,000
Amount paid on achievement of technical milestones     1,600,000 1,000,000.0  
Value of shares paid on achievement of technical milestones     $ 800,000 $ 500,000  
Period to achieve revenue metrics and technical milestone     3 years    
Current portion of contingent consideration $ 0   $ 0