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INCOME TAXES - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |  |
Total tax benefit related to federal and state research and development | $ (4,811) | $ (250) | $ (1,036) |
Benefit for uncertain tax positions | 5,755 | $ 5,918 | $ 6,316 | $ 5,057
Tax expense for interest and penalties related to uncertain tax positions | 200 |  |  |
Research And Development Tax Credits |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Benefit for uncertain tax positions | 5,600 |  |  |
Nondeductible Expense, Auto Expense Compensation |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Benefit for uncertain tax positions | 100 |  |  |
Federal and State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Total tax benefit related to federal and state research and development | $ 28,100 |  |  |

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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research tax credit. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 + Details
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