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INCOME TAXES - Schedule of Difference Between Income Tax Expense (Benefit) and Federal Statutory Income Tax Rate to Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Tax at federal statutory rate	$ (55,210)	$ (40,288)	$ (37,372)
State taxes, net	(1,372)	(6,895)	(6,734)
Foreign rate differential	(4,273)	309	362
Global Intangible Low-taxed Income	791	1,002	637
Non-deductible stock-based compensation	4,770	3,545	2,770
Research credits	(7,020)	(6,694)	(5,230)
Change in valuation allowance	49,016	44,005	45,373
Transfer pricing settlement	0	4,343	0
Goodwill impairment	9,764	0	0
Other	(1,538)	1,102	500
Income tax expense	$ (5,072)	$ 429	$ 306

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Effective income tax reconciliation nondeductible expense income share based compensation.

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Amount of reported income tax expense from difference to expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to global intangible low-taxed income (GILTI).

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to foreign income tax expense (benefit).

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to nondeductible impairment loss.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other adjustments.

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