BALANCE SHEET COMPONENTS - Schedule Of Other Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued contract manufacturing expenses	$ 1,966	$ 8,382
Accrued clinical expenses	591	692
Accrued research expenses	185	349
Accrued professional services	$ 8,876	$ 3,977
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Current	Other Liabilities, Current
Current portion of lease liabilities	$ 1,207	$ 1,316
Royalty obligation payable	1,928	0
Current portion of deferred royalty obligation	0	2,639
Accrued license fees and royalties	1,575	943
Other	3,370	2,909
Total other accrued liabilities	$ 19,698	$ 21,207