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THE COMPANY AND BASIS OF PRESENTATION - Corrected Consolidated Statement of Convertible Preferred Stock and Stockholders’ Equity (Deficit) (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2023 | Dec. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning | $ 2,417 | $ 15,107 | $ (14,438) | $ (18,543) | $ (3,705) | $ 13,104 | $ (14,438) | $ 13,104 | $ (14,438) | $ 13,104 | $ (14,438) | $ 13,104
Net loss | (9,107) | (13,624) | 3,013 | 14,246 | (15,759) | (18,474) | (10,611) | (34,233) | (19,718) | (19,987) | (22,931) | (33,584)
Balance, ending | (5,894) | 2,417 | 15,107 | (2,247) | (18,543) | (3,705) | 2,417 | (18,543) | (5,894) | (2,247) | (8,210) | (14,438)
Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs for underwritten public offering |  |  |  |  |  |  |  |  |  |  |  | 0
Additional Paid-In Capital |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning | 431,519 | 430,585 | 404,055 | 400,599 | 399,678 | 398,013 | 404,055 | 398,013 | 404,055 | 398,013 | 404,055 | 398,013
Balance, ending | 432,315 | 431,519 | 430,585 | 402,649 | 400,599 | 399,678 | 431,519 | 400,599 | 432,315 | 402,649 | 433,212 | 404,055
Additional Paid-In Capital | Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs for underwritten public offering |  |  |  |  |  |  |  |  |  |  |  | 0
Accumulated Deficit |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning | (429,111) | (415,487) | (418,500) | (419,149) | (403,390) | (384,916) | (418,500) | (384,916) | (418,500) | (384,916) | (418,500) | (384,916)
Net loss | (9,107) | (13,624) | 3,013 | 14,246 | (15,759) | (18,474) |  |  |  |  | (22,931) | (33,584)
Balance, ending | (438,218) | (429,111) | (415,487) | (404,903) | (419,149) | (403,390) | (429,111) | (419,149) | (438,218) | (404,903) | (441,431) | (418,500)
As Previously Reported |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning | 15,414 | 26,837 | (2,904) | (7,961) | 4,957 | 21,573 | (2,904) | 21,573 | (2,904) | 21,573 | (2,904) | 21,573
Net loss | (8,172) | (12,357) | 3,209 | 14,978 | (13,119) | (18,281) | (9,148) | (31,400) | (17,320) | (16,422) |  | (29,799)
Balance, ending | 8,038 | 15,414 | 26,837 | 9,067 | (7,961) | 4,957 | 15,414 | (7,961) | 8,038 | 9,067 |  | (2,904)
As Previously Reported | Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs for underwritten public offering |  |  |  |  |  |  |  |  |  |  |  | (720)
As Previously Reported | Additional Paid-In Capital |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning |  |  | 404,055 |  |  | 398,733 | 404,055 | 398,733 | 404,055 | 398,733 | 404,055 | 398,733
Balance, ending |  |  |  |  |  |  |  |  |  |  |  | 404,055
As Previously Reported | Additional Paid-In Capital | Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs for underwritten public offering |  |  |  |  |  |  |  |  |  |  |  | (720)
As Previously Reported | Accumulated Deficit |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning |  |  | (406,966) |  |  | (377,167) | (406,966) | (377,167) | (406,966) | (377,167) | (406,966) | (377,167)
Net loss |  |  |  |  |  |  |  |  |  |  |  | (29,799)
Balance, ending |  |  |  |  |  |  |  |  |  |  |  | (406,966)
Restatement Adjustment |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning | (12,997) | (11,730) | (11,534) | (10,582) | (8,662) | (8,469) | (11,534) | (8,469) | (11,534) | (8,469) | (11,534) | (8,469)
Net loss | (935) | (1,267) | (196) | (732) | (2,640) | (193) | (1,463) | (2,833) | (2,398) | (3,565) |  | (3,785)
Balance, ending | $ (13,932) | $ (12,997) | (11,730) | $ (11,314) | $ (10,582) | (8,662) | (12,997) | (10,582) | (13,932) | (11,314) |  | (11,534)
Restatement Adjustment | Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs for underwritten public offering |  |  |  |  |  |  |  |  |  |  |  | 720
Restatement Adjustment | Additional Paid-In Capital |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning |  |  | 0 |  |  | (720) | 0 | (720) | 0 | (720) | 0 | (720)
Balance, ending |  |  |  |  |  |  |  |  |  |  |  | 0
Restatement Adjustment | Additional Paid-In Capital | Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Issuance costs for underwritten public offering |  |  |  |  |  |  |  |  |  |  |  | 720
Restatement Adjustment | Accumulated Deficit |  |  |  |  |  |  |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Balance, beginning |  |  | $ (11,534) |  |  | $ (7,749) | $ (11,534) | $ (7,749) | $ (11,534) | $ (7,749) | $ (11,534) | (7,749)
Net loss |  |  |  |  |  |  |  |  |  |  |  | (3,785)
Balance, ending |  |  |  |  |  |  |  |  |  |  |  | $ (11,534)

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