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STOCKHOLDERS' EQUITY - Schedule of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Number of Shares  
Options outstanding at beginning of period (in shares) | shares 13,174,995
Options granted (in shares) | shares 5,265,429
Options exercised (in shares) | shares 0
Options canceled (in shares) | shares (3,578,420)
Options outstanding at end of period (in shares) | shares 14,862,004
Options exercisable at end of period (in shares) | shares 8,618,752
Weighted- Average Exercise per Share Price  
Options outstanding at beginning of period (in dollars per share) | $ / shares $ 9.22
Options granted (in dollars per share) | $ / shares 2.38
Options exercised (in dollars per share) | $ / shares 0
Options canceled (in dollars per share) | $ / shares 8.58
Options outstanding at end of period (in dollars per share) | $ / shares 6.95
Options exercisable at end of period (in dollars per share) | $ / shares $ 9.12
Weighted-Average Remaining Contractual Term  
Options outstanding at end of period (in years) 5 years 6 months 25 days
Options exercisable at end of period (in years) 4 years 7 months 9 days
Aggregate Intrinsic Value  
Options outstanding at end of period | $ $ 0
Options exercisable at end of period | $ $ 0