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INCOME TAXES - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | --- | --- | ---
Deferred tax assets: |  |  |  |
Reserves and accruals | $ 27,376 | $ 24,833 |  |
Net operating loss carryforwards | 16,032 | 33,070 |  |
Research and development credit carryforwards | 28,952 | 39,730 |  |
Deferred stock-based compensation | 1,376 | 1,354 |  |
Intangibles | 6,384 | 7,321 |  |
Operating lease liabilities | 7,423 | 8,697 |  |
Capitalized research and development expenses | 36,210 | 9,681 |  |
Other | 1,139 | 31 |  |
Gross deferred tax assets | 124,892 | 124,717 |  |
Valuation allowance | (101,020) | (90,247) | $ (99,585) | $ (95,518)
Gross deferred tax assets after valuation allowance | 23,872 | 34,470 |  |
Deferred tax liabilities: |  |  |  |
Depreciation | (5,971) | (6,597) |  |
Convertible notes | 0 | (3,652) |  |
Operating lease right-of-use assets | (6,125) | (7,402) |  |
Gross deferred tax liabilities | (12,096) | (17,651) |  |
Net deferred tax assets | $ 11,776 | $ 16,819 |  |

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