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 9 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Sep. 30, 2021
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 [Member]      
Statement Line Items [Line Items]      
License revenue   $ 10