Annual report pursuant to Section 13 and 15(d)

BORROWINGS - 2018 Term Loan (Details)

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BORROWINGS - 2018 Term Loan (Details) - USD ($)
12 Months Ended
Sep. 28, 2018
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]        
Gain on extinguishment of debt, net   $ 0 $ 1,422,000 $ 0
2018 Term Loan | Loans Payable        
Debt Instrument [Line Items]        
Debt term (in years) 3 years      
Principal amount $ 60,000,000      
Gain on extinguishment of debt, net     $ 700,000