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FAIR VALUE MEASUREMENTS - Schedule of Financial Instruments Measured at Fair Value (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Cash equivalents:
Cash equivalents	$ 3,787
Debt securities
Debt securities	170,795
Total financial assets	174,582
Corporate debt securities
Debt securities
Debt securities	34,363
Commercial paper
Debt securities
Debt securities	20,740
U.S. government bonds
Debt securities
Debt securities	80,840
Certificate of deposits
Debt securities
Debt securities	24,523
Other
Debt securities
Debt securities	10,329
Money market fund
Cash equivalents:
Cash equivalents	3,787
Fair Value, Recurring
Debt securities
Total financial assets	174,582
Fair Value, Recurring | Convertible preferred stock warrant liability
Liabilities
Convertible preferred stock warrant liability		$ 95,342
Fair Value, Recurring | Corporate debt securities
Debt securities
Debt securities	34,363
Fair Value, Recurring | Commercial paper
Debt securities
Debt securities	20,740
Fair Value, Recurring | U.S. government bonds
Debt securities
Debt securities	80,840
Fair Value, Recurring | Certificate of deposits
Debt securities
Debt securities	24,523
Fair Value, Recurring | Other
Debt securities
Debt securities	10,329
Fair Value, Recurring | Money market fund
Cash equivalents:
Cash equivalents	3,787	67
Level 1 | Fair Value, Recurring
Debt securities
Total financial assets	3,787
Level 1 | Fair Value, Recurring | Convertible preferred stock warrant liability
Liabilities
Convertible preferred stock warrant liability		0
Level 1 | Fair Value, Recurring | Corporate debt securities
Debt securities
Debt securities	0
Level 1 | Fair Value, Recurring | Commercial paper
Debt securities
Debt securities	0
Level 1 | Fair Value, Recurring | U.S. government bonds
Debt securities
Debt securities	0
Level 1 | Fair Value, Recurring | Certificate of deposits
Debt securities
Debt securities	0
Level 1 | Fair Value, Recurring | Other
Debt securities
Debt securities	0
Level 1 | Fair Value, Recurring | Money market fund
Cash equivalents:
Cash equivalents	3,787	67
Level 2 | Fair Value, Recurring
Debt securities
Total financial assets	170,795
Level 2 | Fair Value, Recurring | Convertible preferred stock warrant liability
Liabilities
Convertible preferred stock warrant liability		0
Level 2 | Fair Value, Recurring | Corporate debt securities
Debt securities
Debt securities	34,363
Level 2 | Fair Value, Recurring | Commercial paper
Debt securities
Debt securities	20,740
Level 2 | Fair Value, Recurring | U.S. government bonds
Debt securities
Debt securities	80,840
Level 2 | Fair Value, Recurring | Certificate of deposits
Debt securities
Debt securities	24,523
Level 2 | Fair Value, Recurring | Other
Debt securities
Debt securities	10,329
Level 2 | Fair Value, Recurring | Money market fund
Cash equivalents:
Cash equivalents	0	0
Level 3 | Fair Value, Recurring
Debt securities
Total financial assets	0
Level 3 | Fair Value, Recurring | Convertible preferred stock warrant liability
Liabilities
Convertible preferred stock warrant liability		95,342
Level 3 | Fair Value, Recurring | Corporate debt securities
Debt securities
Debt securities	0
Level 3 | Fair Value, Recurring | Commercial paper
Debt securities
Debt securities	0
Level 3 | Fair Value, Recurring | U.S. government bonds
Debt securities
Debt securities	0
Level 3 | Fair Value, Recurring | Certificate of deposits
Debt securities
Debt securities	0
Level 3 | Fair Value, Recurring | Other
Debt securities
Debt securities	0
Level 3 | Fair Value, Recurring | Money market fund
Cash equivalents:
Cash equivalents	$ 0	$ 0

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