BALANCE SHEET COMPONENTS - Schedule of accrued liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Balance Sheet Components [Abstract]
Accrued compensation expenses	$ 31,738	$ 41,484
Accrued legal and professional expenses	3,180	7,770
Accrued clinical studies expenses	6,475	6,897
Accrued research and development expenses	6,258	6,647
Accrued marketing	650	1,882
Accrued other expenses	8,272	9,031
Total accrued liabilities	$ 56,573	$ 73,711