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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