CERTAIN BALANCE SHEET COMPONENTS - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 147,055	$ 150,806
Less: accumulated depreciation and amortization	(110,372)	(110,992)
Total	36,683	39,814
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	74,659	75,589
Capitalized software
Property, Plant and Equipment [Line Items]
Property and equipment, gross	27,129	30,588
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	40,931	39,199
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property and equipment, gross	2,547	2,739
Construction-in-progress
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 1,789	$ 2,691