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STOCKHOLDERS' EQUITY - Schedule of Employee and Consulting Awards Activity (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Class of Warrant or Right [Line Items]      
Outstanding, Number of Shares   7,956,814 7,602,814
Outstanding, Weighted-Average Exercise Price per Share $ 0.56 $ 0.56 $ 0.54
Outstanding, Weighted-Average Remaining Contractual Term   4 years 4 months 24 days 4 years 4 months 24 days
Granted   354,000  
Granted   $ 1.05  
Outstanding and exercisable, Number of Shares 7,956,814    
Outstanding and exercisable, Weighted-Average Remaining Contractual Term 4 years 4 months 24 days    
Employee Awards [Member]      
Class of Warrant or Right [Line Items]      
Outstanding, Number of Shares 4,936,825 4,903,545 7,266,420
Outstanding, Weighted-Average Exercise Price per Share $ 1.08   $ 1.03
Outstanding, Weighted-Average Remaining Contractual Term 4 years 4 months 24 days 5 years 3 months 18 days  
Outstanding, Aggregate Intrinsic Value $ 22,000 $ 22,000  
Granted 250,000 1,158,000  
Granted $ 0.34 $ 0.82  
Exercised, Number of Shares   (394,670)  
Exercised, Weighted-Average Exercise Price per Share   $ 0.52  
Forfeited or expired (216,720) (3,126,205)  
Forfeited or expired, Weighted-Average Exercise Price per Share $ 0.87 $ 1.04  
Outstanding and exercisable, Weighted-Average Exercise Price per Share   $ 1.11  
Exercisable, Number of Shares 4,564,445    
Exercisable, Weighted-Average Exercise Price per Share $ 1.15    
Exercisable, Weighted-Average Remaining Contractual Term 4 years 4 months 24 days   5 years 6 months
Exercisable, Aggregate Intrinsic Value $ 4,000   $ 167,000
Warrants with Debt [Member]      
Class of Warrant or Right [Line Items]      
Outstanding, Number of Shares   8,085,529 7,421,011
Outstanding, Weighted-Average Exercise Price per Share   $ 0.58 $ 0.46
Outstanding, Weighted-Average Remaining Contractual Term   2 years 9 months 18 days 2 years
Granted 5,785,721 1,868,518  
Granted $ 0.70 $ 0.56  
Forfeited or expired (1,756,000) (1,204,000)  
Forfeited or expired, Weighted-Average Exercise Price per Share $ 0.40 $ 0.65  
Outstanding and exercisable, Number of Shares 12,115,250    
Outstanding and exercisable, Weighted-Average Exercise Price per Share $ 0.66    
Outstanding and exercisable, Weighted-Average Remaining Contractual Term 3 years 6 months    
Exercisable, Aggregate Intrinsic Value     $ 478,925