INCOME TAXES - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Reserves and accruals	$ 24,908	$ 27,376
Net operating loss carryforwards	14,376	16,032
Research and development credit carryforwards	30,117	28,952
Deferred stock-based compensation	1,863	1,376
Intangibles	5,651	6,384
Operating lease liabilities	6,216	7,423
Capitalized research and development expenses	64,075	36,210
Other	3,110	1,139
Gross deferred tax assets	150,316	124,892
Valuation allowance	(37,084)	(101,020)	$ (90,247)	$ (99,585)
Gross deferred tax assets after valuation allowance	113,232	23,872
Deferred tax liabilities:
Depreciation	(3,506)	(5,971)
Operating lease right-of-use assets	(5,019)	(6,125)
Gross deferred tax liabilities	(8,525)	(12,096)
Net deferred tax assets	$ 104,707	$ 11,776