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INCOME TAXES - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]        
Increase (decrease) in valuation allowance $ 39,907 $ 33,838    
Research and development tax credits carryforwards 42,764 31,248    
Unrecognized tax benefits 22,535 $ 16,371 $ 12,539 $ 7,477
Impact of unrecognized tax benefits on effective tax rate, if recognized 2,484      
Federal        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 556,468      
Research and development tax credits carryforwards 39,483      
Indefinite operating loss carryforwards 405,529      
State        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 206,519      
Research and development tax credits carryforwards $ 27,351