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NET LOSS PER SHARE - Schedule of Computation of Basic and Diluted Net Loss per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:                
Net loss $ (27,116) $ (18,482) $ (39,109) $ (21,451) $ (23,897) $ (50,609) $ (84,707) $ (95,957)
Denominator:                
Weighted-average shares used to compute net loss per common share, basic (in shares) 30,607     30,055     30,470 29,837
Weighted-average shares used to compute net loss per common share, diluted (in shares) 30,607     30,055     30,470 29,837
Net loss per common share, basic (in USD per share) $ (0.89)     $ (0.71)     $ (2.78) $ (3.22)
Net loss per common share, diluted (in USD per share) $ (0.89)     $ (0.71)     $ (2.78) $ (3.22)