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INCOME TAXES - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Deferred tax assets: |  |  |  |
Reserves and accruals | $ 24,908 | $ 27,376 |  |
Net operating loss carryforwards | 14,376 | 16,032 |  |
Research and development credit carryforwards | 30,117 | 28,952 |  |
Deferred stock-based compensation | 1,863 | 1,376 |  |
Intangibles | 5,651 | 6,384 |  |
Operating lease liabilities | 6,216 | 7,423 |  |
Capitalized research and development expenses | 64,075 | 36,210 |  |
Other | 3,110 | 1,139 |  |
Gross deferred tax assets | 150,316 | 124,892 |  |
Valuation allowance | (37,084) | (101,020) | $ (90,247) | $ (99,585)
Gross deferred tax assets after valuation allowance | 113,232 | 23,872 |  |
Deferred tax liabilities: |  |  |  |
Depreciation | (3,506) | (5,971) |  |
Operating lease right-of-use assets | (5,019) | (6,125) |  |
Gross deferred tax liabilities | (8,525) | (12,096) |  |
Net deferred tax assets | $ 104,707 | $ 11,776 |  |

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