Rule of thumb for succulents: the further the leaf color is from green, the more sun it wants.
Most succulents are pretty sun-hungry, but anything brightly or palely colored will probably need particularly intense sunlight. If you bring plants like these indoors, they are likely to turn green (as they produce more chlorophyll in an attempt to feed themselves). Many of them will will then continue life happily in this slightly-more-boring state; however, they may also get “leggy,” and if they can’t adjust to the change in light conditions, they may rot.
Likewise, a previously-green plant may develop bright red edges or other nice coloring when moved to a sunnier spot, or as winter moves into spring. This is perfectly healthy. Watch out, however, when new leaves develop brown patches: this could be a sign of “sunburn.”
If you’re short on light and you want to keep a succulent indoors, consider a nice haworthia. Many of them need only a few hours of direct sun a day. To be certain of its needs, check with the seller of any plant.
Edited to add: Not sure if this includes cacti.