Current report of foreign issuer pursuant to Rules 13a-16 and 15d-16 Amendments

REVENUES - Additional Information (Details)

v3.21.2
REVENUES - Additional Information (Details) - Medtronic [Member] - USD ($)
$ in Millions
 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Development Agreement [Member]    
Statement Line Items [Line Items]    
License revenue $ 10  
Amount received for license 30  
Development Agreement [Member] | Top of range [member]    
Statement Line Items [Line Items]    
Amount received for license $ 41  
License Agreement [Member]    
Statement Line Items [Line Items]    
License revenue   $ 10