REVENUE RECOGNITION AND CONTRACTS - Changes in Contract Estimates (Details) - Transferred over Time - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation of Revenue [Line Items]
Increases in gross profit for changes in estimates for over time contracts	$ 7,001	$ 27,237	$ 12,340	$ 34,453
Decreases in gross profit for changes in estimates for over time contracts	(1,523)	(8,058)	(6,018)	(13,003)
Net changes in gross profit for changes in estimates for over time contracts	$ 5,478	$ 19,179	$ 6,322	$ 21,450