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CASH EQUIVALENTS AND MARKETABLE SECURITIES - Summary of Cash Equivalents and Available-for-Sale Securities (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Dec. 31, 2021
--- | --- | --- | --- | ---
Assets |  |  |  |
Cash equivalents, amortized cost | $ 56,514 | $ 100,444 | $ 94,570 | $ 178,872
Marketable securities, amortized cost | 75,647 | 207,923 |  |
Marketable securities, gross unrealized gains | 1 | 28 |  |
Marketable securities, gross unrealized losses | (51) | (918) |  |
Marketable securities, estimated fair value | 75,597 | 207,033 |  |
Total cash equivalents and marketable securities, amortized cost | 79,064 | 258,743 |  |
Total cash equivalents and marketable securities, gross unrealized gains | 1 | 28 |  |
Total cash equivalents and marketable securities, gross unrealized losses | (51) | (918) |  |
Total cash equivalents and marketable securities, estimated fair value | 79,014 | 257,853 |  |
Money market funds |  |  |  |
Assets |  |  |  |
Cash equivalents, amortized cost | 3,417 | 50,820 |  |
Cash equivalents, gross unrealized gains | 0 | 0 |  |
Cash equivalents, gross unrealized losses | 0 | 0 |  |
Cash equivalents, estimated fair value | 3,417 | 50,820 |  |
Cash equivalents: |  |  |  |
Assets |  |  |  |
Cash equivalents, amortized cost | 3,417 | 50,820 |  |
Cash equivalents, gross unrealized gains | 0 | 0 |  |
Cash equivalents, gross unrealized losses | 0 | 0 |  |
Cash equivalents, estimated fair value | 3,417 | 50,820 |  |
U.S. government-sponsored entity debt securities |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost | 28,655 | 18,710 |  |
Marketable securities, gross unrealized gains | 0 | 0 |  |
Marketable securities, gross unrealized losses | (18) | (293) |  |
Marketable securities, estimated fair value | 28,637 | 18,417 |  |
Commercial paper securities |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost | 18,901 | 101,336 |  |
Marketable securities, gross unrealized gains | 0 | 22 |  |
Marketable securities, gross unrealized losses | (10) | (193) |  |
Marketable securities, estimated fair value | 18,891 | 101,165 |  |
Corporate debt securities |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost | 1,379 | 11,760 |  |
Marketable securities, gross unrealized gains | 0 | 0 |  |
Marketable securities, gross unrealized losses | 0 | (90) |  |
Marketable securities, estimated fair value | 1,379 | 11,670 |  |
Asset-backed securities |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost | 8,429 | 24,970 |  |
Marketable securities, gross unrealized gains | 0 | 2 |  |
Marketable securities, gross unrealized losses | 0 | (180) |  |
Marketable securities, estimated fair value | 8,429 | 24,792 |  |
U.S. treasury bills |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost | 5,599 | 7,950 |  |
Marketable securities, gross unrealized gains | 0 | 0 |  |
Marketable securities, gross unrealized losses | (18) | (12) |  |
Marketable securities, estimated fair value | 5,581 | 7,938 |  |
Certificates of deposit |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost | 12,684 | 37,599 |  |
Marketable securities, gross unrealized gains | 1 | 4 |  |
Marketable securities, gross unrealized losses | (5) | (142) |  |
Marketable securities, estimated fair value | $ 12,680 | 37,461 |  |
Agency bonds |  |  |  |
Assets |  |  |  |
Marketable securities, amortized cost |  | 5,598 |  |
Marketable securities, gross unrealized gains |  | 0 |  |
Marketable securities, gross unrealized losses |  | (8) |  |
Marketable securities, estimated fair value |  | $ 5,590 |  |

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