DEBT - Schedule of Long-Term Debt Instruments (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Apr. 30, 2022
Debt Instrument [Line Items]
Carrying value	$ 20,000	$ 4,645
Hercules Loan and Security Agreement | Secured Debt
Debt Instrument [Line Items]
Gross proceeds	20,000
Unamortized debt issuance costs	0		$ (200)
Carrying value	$ 20,000