INCOME TAXES - Schedule of Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Components of Deferred Tax Assets and Liabilities [Abstract]
Net operating loss carryforwards	$ 45,197	$ 39,033
Tax credit carryforwards	3,975	5,478
Fixed assets (liabilities)	(138)	(117)
Stock-based compensation	2,398	2,621
Capitalized R&D	8,594	5,463
Deferred Revenue	669	817
Other	122	70
Total deferred tax assets	60,817	53,365
Valuation allowance	$ (60,817)	$ (53,365)

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from deferred income.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences and carryforwards.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-2

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from in-process research and development costs expensed in connection with a business combination.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible operating loss carryforwards.

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Amount, before allocation of valuation allowance, of deferred tax asset attributable to deductible temporary differences, classified as other.

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Amount, before allocation of a valuation allowances, of deferred tax assets attributable to deductible tax credit carryforwards including, but not limited to, research, foreign, general business, alternative minimum tax, and other deductible tax credit carryforwards.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 6
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-6

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from share-based compensation.

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
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Amount of deferred tax liability attributable to taxable temporary differences from property, plant, and equipment.

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