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SHARE-BASED COMPENSATION - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended 48 Months Ended
Jan. 01, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2016
Dec. 31, 2019
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares authorized for issuance (in shares)       4,182,404    
Expiration period       10 years    
Percent of common stock authorized under plan       4.00%    
Additional shares authorized for plan (in shares) 1,394,475       3,530,773  
Outstanding, exercisable equity awards (in shares)   2,190,922     2,190,922  
Remaining equity awards available for future issuances (in shares)   1,826,218     1,826,218  
Total intrinsic value of stock options exercised   $ 100 $ 1,600      
Cash received from exercise stock options   87 $ 182      
Unrecognized employee stock-based compensation costs   $ 4,400     $ 4,400  
Remaining weighted-average period for RSUs   2 years 1 month 2 days        
Options to purchase Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares outstanding (in shares)   3,497,000 3,527,000   3,497,000 2,863,000
Expiration period     10 years      
Vesting period (up to)     48 months      
Weighted average fair value per option (in usd per share)   $ 2.31 $ 5.41      
Shares issued in period (in shares)   1,078,000 1,108,000      
Options to purchase Common Stock | Initial vesting period            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percent     25.00%      
Options to purchase Common Stock | Subsequent vesting period            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percent     75.00%      
Vesting period (up to)     36 months      
Non-employee Stock Option | Non-employees            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares issued in period (in shares)     0      
2008 Equity Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares outstanding (in shares)   1,305,678     1,305,678  
2016 Equity Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Basis for equity incentive plan (in shares)       1,681,294    
Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Purchase price of common stock, percentage of fair market value       85.00%    
Stock purchase offering period       6 months    
Number of shares available for issuance under ESPP (in shares)   622,346     622,346  
Issuance of common stock for cash under employee stock purchase plan (in shares)   56,253 52,444   121,890