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THE COMPANY AND BASIS OF PRESENTATION - Corrected Consolidated Statement of Operations and Comprehensive Loss (Details) - USD ($)
$ / shares in Units, $ 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]                        
Collaboration revenue $ 11,250 $ 7,497 $ 26,107 $ 40,744 $ 6,216 $ 7,269 $ 33,604 $ 13,485 $ 44,854 $ 54,229 $ 59,570 $ 64,448
Total revenues 12,718 7,497 26,107 40,744 6,216 7,269 33,604 13,485 46,322 54,229 63,905 64,448
Research and development 17,389 17,556 18,869 20,283 16,630 20,381 36,425 37,011 53,814 57,294 68,532 77,405
Selling, general and administrative 4,432 4,039 4,457 6,270 5,339 5,342 8,496 10,681 12,928 16,951 18,333 20,546
Total operating expenses 22,208 21,595 23,326 26,553 21,969 25,723 44,921 47,692 67,129 74,245 88,388 97,951
Loss from operations (9,490) (14,098) 2,781 14,191 (15,753) (18,454) (11,317) (34,207) (20,807) (20,016) (24,483) (33,503)
Loss before income tax expense (8,877) (13,475)   14,246 (15,759)   (10,462) (34,233) (19,339) (19,987) (22,488) (33,312)
Net loss and comprehensive 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)
Net loss and comprehensive 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)
Basic net loss per common share (USD per share) $ (0.10) $ (0.15) $ 0.03 $ 0.16 $ (0.23) $ (0.27) $ (0.13) $ (0.50) $ (0.23) $ (0.29) $ (0.26) $ (0.48)
Diluted net loss per common share (USD per share) $ (0.10) $ (0.15) $ 0.03 $ 0.16 $ (0.23) $ (0.27) $ (0.13) $ (0.50) $ (0.23) $ (0.29) $ (0.26) $ (0.48)
Shares used to compute basic net loss per common share (in shares) 90,287,441 90,115,859 78,640,086 70,217,985 69,133,700 68,138,116 84,409,667 68,638,651 86,390,446 69,170,865 87,427,439 69,857,698
Shares used to compute diluted net loss per common share (in shares) 90,287,441 90,115,859 101,189,396 88,592,568 69,133,700 68,138,116 84,409,667 68,638,651 86,390,446 69,170,865 87,427,439 69,857,698
As Previously Reported                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Collaboration revenue $ 11,250 $ 7,614 $ 25,990 $ 40,744 $ 6,216 $ 7,109 $ 33,604 $ 13,325 $ 44,854 $ 54,069   $ 64,288
Total revenues 12,718 7,614 25,990 40,744 6,216 7,109 33,604 13,325 46,322 54,069   64,288
Research and development 17,330 17,135 18,715 20,041 15,255 20,166 35,850 35,421 53,180 55,462   75,520
Selling, general and administrative 3,556 3,310 4,298 5,780 4,074 5,204 7,608 9,278 11,164 15,058   18,486
Total operating expenses 21,273 20,445 23,013 25,821 19,329 25,370 43,458 44,699 64,731 70,520   94,006
Loss from operations (8,555) (12,831) 2,977 14,923 (13,113) (18,261) (9,854) (31,374) (18,409) (16,451)   (29,718)
Loss before income tax expense (7,942) (12,208)   14,978 (13,119)   (8,999) (31,400) (16,941) (16,422)   (29,527)
Net loss and comprehensive loss (8,172) (12,357) 3,209 14,978 (13,119) (18,281) (9,148) (31,400) (17,320) (16,422)   (29,799)
Net loss and comprehensive loss $ (8,172) $ (12,357) $ 3,209 $ 14,978 $ (13,119) $ (18,281) $ (9,148) $ (31,400) $ (17,320) $ (16,422)   $ (29,799)
Basic net loss per common share (USD per share) $ (0.09) $ (0.14) $ 0.03 $ 0.17 $ (0.19) $ (0.27) $ (0.11) $ (0.46) $ (0.20) $ (0.24)   $ (0.43)
Diluted net loss per common share (USD per share) $ (0.09) $ (0.14) $ 0.03 $ 0.17 $ (0.19) $ (0.27) $ (0.11) $ (0.46) $ (0.20) $ (0.24)   $ (0.43)
Shares used to compute basic net loss per common share (in shares) 90,287,441 90,115,859 78,640,086 70,217,985 69,133,700 68,138,116 84,409,667 68,638,651 86,390,446 69,170,865   69,857,698
Shares used to compute diluted net loss per common share (in shares) 90,287,441 90,115,859 101,189,396 88,592,568 69,133,700 68,138,116 84,409,667 68,638,651 86,390,446 69,170,865   69,857,698
Restatement Adjustment                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Collaboration revenue $ 0 $ (117) $ 117 $ 0 $ 0 $ 160 $ 0 $ 160 $ 0 $ 160   $ 160
Total revenues 0 (117) 117 0 0 160 0 160 0 160   160
Research and development 59 421 154 242 1,375 215 575 1,590 634 1,832   1,885
Selling, general and administrative 876 729 159 490 1,265 138 888 1,403 1,764 1,893   2,060
Total operating expenses 935 1,150 313 732 2,640 353 1,463 2,993 2,398 3,725   3,945
Loss from operations (935) (1,267) (196) (732) (2,640) (193) (1,463) (2,833) (2,398) (3,565)   (3,785)
Loss before income tax expense (935) (1,267)   (732) (2,640)   (1,463) (2,833) (2,398) (3,565)   (3,785)
Net loss and comprehensive loss (935) (1,267) (196) (732) (2,640) (193) (1,463) (2,833) (2,398) (3,565)   (3,785)
Net loss and comprehensive loss $ (935) $ (1,267) $ (196) $ (732) $ (2,640) $ (193) $ (1,463) $ (2,833) $ (2,398) $ (3,565)   $ (3,785)