STOCKHOLDERS' EQUITY - EQUITY PLANS - SCHEDULE OF AGGREGATE STOCK OPTION AND AWARD ACTIVITY (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares Available For Grant
Balance at the beginning of the period (in shares)	18,370,729
Additional shares authorized (in shares)	56,368,058
Stock options granted (in shares)	(20,855,230)
Awards granted (in shares)	(36,864)
Stock options cancelled/forfeited/expired (in shares)	4,903,977
Balance at the end of the period (in shares)	58,750,670	18,370,729
Number of Shares - Options Outstanding
Balance at the beginning of the period (in shares)	65,902,400
Stock options granted (in shares)	20,855,230
Stock options exercised (in shares)	(8,869,302)
Stock options cancelled/forfeited/expired (in shares)	(4,903,977)
Balance at the end of the period (in shares)	72,984,351	65,902,400
Stock options exercisable at the end of the period (in shares)	39,995,642	36,085,389	30,459,136
Stock options fully vested and expected to vest at the end of the period (in shares)	71,983,176
Weighted Average Exercise Price Per Share - Options Outstanding
Balance at the beginning of the period (in dollars per share)	$ 1.87
Stock options granted (in dollars per share)	2.72
Stock options exercised (in dollars per share)	1.39
Stock options cancelled/forfeited/expired (in dollars per share)	2.15
Balance at the end of the period (in dollars per share)	2.16	$ 1.87
Stock options exercisable at the end of the period (in dollars per share)	2.16	$ 2.17	$ 2.35
Stock options fully vested and expected to vest at the end of the period (in dollars per share)	$ 2.15
Weight Average Remaining Contractual Life (in years) - Options Outstanding
Balance at the end of the period	6 years 8 months 12 days
Stock options exercisable at the end of the period	5 years 3 months 10 days
Stock options fully vested and expected to vest at the end of the period	6 years 8 months 1 day
Aggregate Intrinsic Value - Options Outstanding
Balance at the end of the period (in dollars)	$ 25,391,643
Stock options exercisable at the end of the period (in dollars)	15,557,976
Stock options fully vested and expected to vest at the end of the period (in dollars)	$ 25,169,074