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EQUITY INCENTIVE PLANS - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Shares    
Outstanding, beginning balance (in shares) 8,099,624  
Options granted (in shares) 3,233,558  
Options exercised (in shares) (25,750)  
Options canceled (in shares) (641,417)  
Outstanding, ending balance (in shares) 10,666,015 8,099,624
Vested and expected to vest (in shares) 10,666,015  
Exercisable (in shares) 7,236,987  
Weighted Average Exercise Price    
Outstanding, beginning balance (USD per share) $ 2.78  
Options granted (USD per share) 1.02  
Options exercised (USD per share) 0.83  
Options canceled (USD per share) 3.12  
Outstanding, ending balance (USD per share) 2.23 $ 2.78
Vested and expected to vest (USD per share) 2.23  
Exercisable (USD per share) $ 2.75  
Weighted Average Remaining Contractual Life in Years    
Outstanding (in years) 6 years 8 months 19 days 6 years 7 months 24 days
Vested and expected to vest (in years) 6 years 8 months 19 days  
Exercisable (in years) 5 years 8 months 15 days  
Total Aggregate Intrinsic Value (in thousands)    
Outstanding $ 57 $ 48
Vested and expected to vest 57  
Exercisable $ 54