FAIR VALUE MEASUREMENTS - Schedule of Assets and Liabilities on Recurring Basis (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Assets, Fair Value Disclosure [Abstract]
Short-Term Investments	$ 69,216	$ 105,047
Fair Value, Recurring
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	27,007	34,040
Short-Term Investments	69,216	105,047
Total Assets at Fair Value	96,223	139,087
Liabilities, Fair Value Disclosure [Abstract]
Earnout warrants	134	163
Total liabilities measured at fair value	2,636	3,209
Fair Value, Recurring | Public warrants
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	1,697	2,066
Fair Value, Recurring | Private warrants (excluding earnout warrants)
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	805	980
Fair Value, Recurring | Level 1
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	18,959	27,993
Short-Term Investments	29,927	19,944
Total Assets at Fair Value	48,886	47,937
Liabilities, Fair Value Disclosure [Abstract]
Earnout warrants	0	0
Total liabilities measured at fair value	1,697	2,066
Fair Value, Recurring | Level 1 | Public warrants
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	1,697	2,066
Fair Value, Recurring | Level 1 | Private warrants (excluding earnout warrants)
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	0	0
Fair Value, Recurring | Level 1 | Money market funds
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	10,978	27,993
Short-Term Investments	0	0
Total Assets at Fair Value	10,978	27,993
Fair Value, Recurring | Level 1 | U.S. Treasury securities
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	7,981	0
Short-Term Investments	29,927	19,944
Total Assets at Fair Value	37,908	19,944
Fair Value, Recurring | Level 2
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	8,048	6,047
Short-Term Investments	39,289	85,103
Total Assets at Fair Value	47,337	91,150
Liabilities, Fair Value Disclosure [Abstract]
Earnout warrants	134	163
Total liabilities measured at fair value	939	1,143
Fair Value, Recurring | Level 2 | Public warrants
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	0	0
Fair Value, Recurring | Level 2 | Private warrants (excluding earnout warrants)
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	805	980
Fair Value, Recurring | Level 2 | Certificate of deposit
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	76	75
Short-Term Investments	0	0
Total Assets at Fair Value	76	75
Fair Value, Recurring | Level 2 | U.S. agency securities
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	0	0
Short-Term Investments	17,715	55,319
Total Assets at Fair Value	17,715	55,319
Fair Value, Recurring | Level 2 | Commercial paper
Assets, Fair Value Disclosure [Abstract]
Cash Equivalents and Restricted Cash	7,972	5,972
Short-Term Investments	21,574	29,784
Total Assets at Fair Value	29,546	35,756
Fair Value, Recurring | Level 3
Liabilities, Fair Value Disclosure [Abstract]
Earnout warrants	0	0
Total liabilities measured at fair value	0	0
Fair Value, Recurring | Level 3 | Public warrants
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	0	0
Fair Value, Recurring | Level 3 | Private warrants (excluding earnout warrants)
Liabilities, Fair Value Disclosure [Abstract]
Common stock warrants	$ 0	$ 0