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ORGANIZATION, BASIS OF PRESENTATION AND SUMMARY OF SIGNIFICANT ACCOUNTING POLICIES - Narrative (Details) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 USD ($) segment $ / shares shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) $ / shares shares
Change in Accounting Estimate [Line Items] |  |  |
Capital resources | $ 81,000 |  |
Accounts receivable | 923 | $ 3,678 |
Letter of credit | $ 1,500 |  |
Stock options, RSUs outstanding and ESPP shares reserved (in shares) | shares | 21,254,556 | 18,560,755 | 15,159,908
Number of operating segments | segment | 1 |  |
Kite Pharma, Inc. | Change in Agreement Estimate, March and September 2023 | Collaborative Arrangement |  |  |
Change in Accounting Estimate [Line Items] |  |  |
Increase (decrease) in revenue | $ 13,900 |  |
Increase (decrease) in net loss | $ (13,900) |  |
Increase (decrease) in basic net loss per share | $ / shares | $ (0.08) |  |
Increase (decrease) in diluted net loss per share | $ / shares | $ (0.08) |  |
Sanofi S.A. | Change in Agreement Estimate, September 2021 | Collaborative Arrangement |  |  |
Change in Accounting Estimate [Line Items] |  |  |
Increase (decrease) in revenue |  |  | $ (1,600)
Increase (decrease) in net loss |  |  | $ 1,600
Increase (decrease) in basic net loss per share | $ / shares |  |  | $ 0.01
Increase (decrease) in diluted net loss per share | $ / shares |  |  | $ 0.01
Minimum |  |  |
Change in Accounting Estimate [Line Items] |  |  |
Estimated useful lives of related assets | 3 years |  |
Maximum |  |  |
Change in Accounting Estimate [Line Items] |  |  |
Estimated useful lives of related assets | 5 years |  |

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