STOCKHOLDERS' EQUITY - Schedule of Stock Option Activity (Details) - Stock Option Plans - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares Subject to Issuance
Outstanding, beginning balance (in shares)	1,120,244	496,424
Granted (in shares)	627,507	732,228
Forfeited (in shares)	(595,037)	(108,408)
Exercised (in shares)	0
Outstanding, ending balance (in shares)	1,152,714	1,120,244	496,424
Exercisable at end of period (in shares)	550,964
Weighted- average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 3.68	$ 6.13
Granted (in dollars per share)	2.91	2.14
Forfeited (in dollars per share)	4.05	4.53
Exercised (in dollars per share)	0
Outstanding, ending balance (in dollars per share)	3.07	$ 3.68	$ 6.13
Exercisable at end of period (in dollars per share)	$ 3.47
Weighted- average Remaining Contractual Term
Outstanding	3 years 2 months 4 days	3 years 6 months	3 years 10 days
Exercisable at end of period	2 years 3 months 29 days
Aggregate Intrinsic Value
Outstanding	$ 38	$ 84	$ 528
Exercisable at end of period	$ 23