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EQUITY INCENTIVE PLAN AND STOCK-BASED COMPENSATION - Employee Stock Purchase Plan (Details)
shares in Thousands, $ in Millions
 1 Months Ended 9 Months Ended
Jun. 01, 2023
Oct. 31, 2016
purchase_period
Sep. 30, 2023
USD ($)
shares
Dec. 31, 2022
shares
Subsidiary, Sale of Stock [Line Items]        
Shares available for future issuance (in shares)     9,782 10,177
ESPP        
Subsidiary, Sale of Stock [Line Items]        
Common stock issued to employees (in shares)     46  
Employee Stock Purchase Plan        
Subsidiary, Sale of Stock [Line Items]        
Percentage of payroll deductions of eligible compensation   15.00%    
Percentage of common stock fair market value available for employee purchase   85.00%    
Shares available for future issuance (in shares)     2,200  
Total unamortized compensation costs, net of estimated forfeitures related to unvested stock options | $     $ 3.2  
Unamortized compensation costs related to unvested stock options, expected period of recognition (in years)     6 months  
Employee Stock Purchase Plan | ESPP        
Subsidiary, Sale of Stock [Line Items]        
Offering period (in months)   12 months    
Number of purchase period | purchase_period   2    
Purchase period (in months)   6 months    
Expected minimum volatility (as a percent) 48.80%      
Expected maximum volatility (as a percent) 59.20%      
Risk-free interest rate, minimum (as a percent) 5.10%      
Risk-free interest rate, maximum (as a percent) 5.40%      
Dividend yield 0.00%      
Employee Stock Purchase Plan | ESPP | Minimum        
Subsidiary, Sale of Stock [Line Items]        
Expected term (in years) 6 months      
Employee Stock Purchase Plan | ESPP | Maximum        
Subsidiary, Sale of Stock [Line Items]        
Expected term (in years) 1 year