OTHER BALANCE SHEET DETAILS - Schedule of Other Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued restructuring expenses	$ 11,733	$ 0
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Total other accrued liabilities	Total other accrued liabilities
Operating lease liabilities – current	$ 4,589	$ 4,122
Accrued research and development expenses	3,763	7,115
Accrued professional fees	1,505	1,704
Other	1,964	3,066
Total other accrued liabilities	$ 23,554	$ 16,007