BALANCE SHEET COMPONENTS - Property and Equipment (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Property and equipment, gross	$ 83,409	$ 86,863
Less: accumulated depreciation and amortization	(47,321)	(49,525)
Total property and equipment	36,088	37,338
Computer Equipment
Property and equipment, gross	12,124	12,515
Software
Property and equipment, gross	5,599	5,596
Furniture, Fixtures, and Equipment
Property and equipment, gross	2,519	2,501
Leasehold Improvements
Property and equipment, gross	6,463	6,475
Laboratory and Other Equipment
Property and equipment, gross	5,102	4,891
Test Equipment
Property and equipment, gross	22,324	25,044
DFI System Assets
Property and equipment, gross	22,086	22,864
CV System and Other Assets
Property and equipment, gross	$ 7,192	$ 6,977