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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)