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INCOME TAXES - Schedule of Reconciliation Between the Statutory U.S. Federal Income Tax Rate and our Effective Tax Rate as a Percentage of Loss Before Income Taxes (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
U.S federal income taxes at statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal benefit 2.70% 2.10% 4.30%
Foreign income taxes at rates other than the U.S. rate (3.50%) (1.80%) (0.70%)
Change in valuation allowance (28.70%) (19.80%) (47.30%)
Research and development credits 8.20% 3.50% 7.30%
Stock-based compensation (5.40%) (4.40%) 13.30%
Foreign inclusions 0.00% (3.70%) 0.00%
Other 0.90% 0.30% 0.60%
Effective income tax rate (4.80%) (2.80%) (1.50%)