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INCOME TAXES - Schedule of Differences Between Statutory Federal Income Tax Rate and Income Taxes Reported (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount      
Federal income tax expense at the statutory rate $ (54.9) $ (29.5) $ (12.0)
State income taxes, net of federal benefit (4.1) (3.3) (1.8)
Research and development credits (1.6) (3.5) 2.5
Uncertain tax positions 3.7 0.6 (3.0)
Incentive stock option and employee stock purchase plan expense 1.2 2.5 0.7
Foreign rate differential (0.4) 0.0 0.5
Change in valuation allowance 52.6 2.6 (3.2)
CARES Act 0.0 0.0 2.7
Non-deductible meals and entertainment 0.0 0.0 0.1
Non-deductible officer compensation 3.0 3.5 3.3
Non-deductible legal settlement 0.0 0.0 2.5
Acquisitions, dispositions, and contingent consideration 0.1 (0.1) (23.0)
Other, net 1.5 (1.4) 0.8
Total income tax expense (benefit) $ 1.1 $ (28.6) $ (29.9)
Effective Income Tax Rate Reconciliation, Percent      
Federal income tax expense at the statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal benefit 1.60% 2.30% 3.20%
Research and development credits 0.60% 2.50% (4.40%)
Uncertain tax positions (1.40%) (0.40%) 5.30%
Incentive stock option and employee stock purchase plan expense (0.50%) (1.80%) (1.20%)
Foreign rate differential 0.20% 0.00% (0.90%)
Change in valuation allowance (20.10%) (1.80%) 5.60%
CARES Act 0.00% 0.00% (4.70%)
Non-deductible meals and entertainment 0.00% 0.00% (0.20%)
Non-deductible officer compensation (1.10%) (2.50%) (5.80%)
Non-deductible legal settlement 0.00% 0.00% (4.50%)
Acquisitions, dispositions, and contingent consideration 0.00% 0.10% 40.30%
Other, net (0.70%) 0.90% (1.40%)
Total income tax expense (benefit) (0.40%) 20.30% 52.30%