How does MNHA handle asymmetric traffic? What is Inter Chassis Datapath (ICD) and what is its function when handling asymmetric traffic?

Please refer to this tech library for a detailed explanation about these questions:

Asymmetric Traffic Flow Support in Multinode High Availability

https://www.juniper.net/documentation/us/en/software/junos/high-availability/topics/topic-map/mnha-asymmetric-route-support.html