BALANCE SHEET COMPONENTS -Schedule of Other Long-term Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Long-term portion of deferred royalty obligation	$ 69,876	$ 67,947
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Total other long-term liabilities	Total other long-term liabilities
Long-term portion of lease liabilities	$ 1,635	$ 2,376
Contingent value rights liability	359	595
Total other long-term liabilities	$ 71,870	$ 70,918