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EQUITY INCENTIVE PLANS - Summary of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total $ 3,061 $ 3,705
Research and development    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total 1,592 1,760
Selling, general and administrative    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total $ 1,469 $ 1,945