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FINANCING ARRANGEMENTS - Components of Short-term and Long-term Debt (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Debt Instrument [Line Items]    
Carrying value $ 1,093,301 $ 1,235,333
Less: Current maturities and short-term borrowing 0 (142,885)
Long-term debt $ 1,093,301 $ 1,092,448
Line of credit | Revolving credit facility    
Debt Instrument [Line Items]    
Average interest rate (percent) 0.00% 0.00%
Carrying value $ 0 $ 0
Senior Notes | Series A Notes    
Debt Instrument [Line Items]    
Average interest rate (percent) 3.97% 3.97%
Carrying value $ 175,000 $ 175,000
Senior Notes | Series B Notes    
Debt Instrument [Line Items]    
Average interest rate (percent) 4.26% 4.26%
Carrying value $ 150,000 $ 150,000
Senior Notes | Series C Notes    
Debt Instrument [Line Items]    
Average interest rate (percent) 4.60% 4.60%
Carrying value $ 175,000 $ 175,000
Secured Debt | Receivables securitization facility    
Debt Instrument [Line Items]    
Average interest rate (percent) 0.00% 2.41%
Carrying value $ 0 $ 142,885
Unsecured Debt | Senior Notes    
Debt Instrument [Line Items]    
Average interest rate (percent) 4.20% 4.20%
Carrying value $ 593,301 $ 592,448