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THE COMPANY AND BASIS OF PRESENTATION - Corrected Consolidated Statement of Cash Flows (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
Operating activities:                        
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)
Adjustments to reconcile net loss to net cash used in operating activities:                        
Non-cash operating lease expense     262     234 639 476 895 724 1,158 981
Changes in assets and liabilities:                        
Accrued indirect tax liabilities     261     353 1,897 2,993 3,155 3,725   3,945
Contract liabilities     36     (1,004) (2,613) (2,412) (3,956) 7,154 (5,799) 2,646
Operating lease liabilities     (290)     (252) (595) (512) (781) (778) $ (973) (1,052)
As Previously Reported                        
Operating activities:                        
Net loss (8,172) (12,357) 3,209 14,978 (13,119) (18,281) (9,148) (31,400) (17,320) (16,422)   (29,799)
Adjustments to reconcile net loss to net cash used in operating activities:                        
Non-cash operating lease expense     288     258 664 523 921 796   1,082
Changes in assets and liabilities:                        
Accrued indirect tax liabilities     0     0 0 0 0 0   0
Contract liabilities     (142)     (844) (2,613) (2,252) (3,956) 7,314   2,806
Operating lease liabilities     (316)     (276) (620) (559) (807) (850)   (1,153)
Restatement Adjustment                        
Operating activities:                        
Net loss $ (935) $ (1,267) (196) $ (732) $ (2,640) (193) (1,463) (2,833) (2,398) (3,565)   (3,785)
Adjustments to reconcile net loss to net cash used in operating activities:                        
Non-cash operating lease expense     (26)     (24) (25) (47) (26) (72)   (101)
Changes in assets and liabilities:                        
Accrued indirect tax liabilities     261     353 1,897 2,993 3,155 3,725   3,945
Contract liabilities     178     (160) 0 (160) 0 (160)   (160)
Operating lease liabilities     $ 26     $ 24 $ 25 $ 47 $ 26 $ 72   $ 101