STOCK-BASED COMPENSATION - Additional Information (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) anniversary $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Jan. 01, 2023 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options outstanding (in shares)	7,523,947	5,610,893
Weighted average grant date fair value of options granted (in dollars per share) | $ / shares	$ 4.38	$ 3.79
Options, exercises in period, intrinsic value | $	$ 0.5	$ 0.6
Option, cost not yet recognized, amount | $	$ 12.3
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividend yield	0.00%	0.00%
Weighted average period of recognition (in years)	2 years 2 months 12 days
Stock Options | Granted after December 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in months)	48 months
Cliff period (in years)	1 year
Contractual term (in years)	10 years
Stock Options | Granted prior to December 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Contractual term (in years)	10 years
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average period of recognition (in years)	2 years 1 month 6 days
Number of anniversaries for vesting | anniversary	3
Non option, cost not yet recognized, amount | $	$ 1.4
Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of outstanding stock maximum	1.00%
Common stock, capital shares reserved for future issuance (in shares)			410,251
Number of shares authorized (in shares)	1,189,983
Shares of common stock outstanding maximum (in shares)	800,000
Shares issued in period (in shares)	0
Minimum | Stock Options | Granted after December 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in months)	12 months
Minimum | Stock Options | Granted prior to December 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in months)	3 months
Maximum | Stock Options | Granted after December 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in months)	48 months
Maximum | Stock Options | Granted prior to December 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in months)	24 months
2013 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options outstanding (in shares)	3,231,274
2021 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, capital shares reserved for future issuance (in shares)			2,051,253
Maximum threshold common stock issuable on exercise of incentive stock options (in shares)	12,000,000
2021 Equity Incentive Plan | Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of outstanding stock maximum		5.00%
Number of shares authorized (in shares)	11,773,198
Shares available for future grant (in shares)	3,674,730