DEBT - Schedule of Future Principal Payments (Details) - Hercules Loan and Security Agreement - Secured Debt $ in Thousands	Sep. 30, 2023 USD ($)
Debt Instrument [Line Items]
2023 (remainder)	$ 0
2024	0
2025	9,101
2026	10,899
Total	$ 20,000

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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+ Details