INCOME TAXES - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Total tax benefit related to federal and state research and development	$ (4,811)	$ (250)	$ (1,036)
Benefit for uncertain tax positions	5,755	$ 5,918	$ 6,316	$ 5,057
Tax expense for interest and penalties related to uncertain tax positions	200
Research And Development Tax Credits
Operating Loss Carryforwards [Line Items]
Benefit for uncertain tax positions	5,600
Nondeductible Expense, Auto Expense Compensation
Operating Loss Carryforwards [Line Items]
Benefit for uncertain tax positions	100
Federal and State
Operating Loss Carryforwards [Line Items]
Total tax benefit related to federal and state research and development	$ 28,100