STOCKHOLDERS' EQUITY - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares
Options outstanding at beginning of period (in shares) | shares	11,963,277
Options granted (in shares) | shares	3,399,360
Options exercised (in shares) | shares	(28,354)
Options canceled (in shares) | shares	(2,159,288)
Options outstanding at end of period (in shares) | shares	13,174,995
Options exercisable at end of period (in shares) | shares	7,823,318
Weighted- Average Exercise per Share Price
Options outstanding at beginning of period (in dollars per share) | $ / shares	$ 10.36
Options granted (in dollars per share) | $ / shares	5.75
Options exercised (in dollars per share) | $ / shares	4.40
Options canceled (in dollars per share) | $ / shares	10.09
Options outstanding at end of period (in dollars per share) | $ / shares	9.22
Options exercisable at end of period (in dollars per share) | $ / shares	$ 10.30
Weighted-Average Remaining Contractual Term
Options outstanding at end of period (in years)	6 years 11 months 15 days
Options exercisable at end of period (in years)	5 years 9 months 29 days
Aggregate Intrinsic Value
Options outstanding at end of period | $	$ 0
Options exercisable at end of period | $	$ 0