REVENUE RECOGNITION AND CONTRACTS - Contract Balances (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Contract assets - included in contracts in progress:
Contract assets - included in contracts in progress	$ 90,054	$ 118,180
Contract assets - included in contracts in progress, change	$ (28,126)
Contract assets - included in contracts in progress, change, percent	(24.00%)
Contract liabilities - included in advance billings on contracts:
Contract liabilities - included in advance billings on contracts	$ 81,098	130,945
Contract liabilities - included in advance billings on contracts, change	$ (49,847)
Contract liabilities - included in advance billings on contracts, change, percent	(38.00%)
Net contract balance	$ 8,956	(12,765)
Net contract balance, change	$ 21,721
Net contract balance, percent change	170.00%
Accrued contract losses	$ 522	180
Accrued contract losses, change	$ 342
Accrued contract losses, percent change	190.00%
Billings to customers less revenues recognized
Contract liabilities - included in advance billings on contracts:
Contract liabilities - included in advance billings on contracts	$ 76,032	111,159
Contract liabilities - included in advance billings on contracts, change	$ (35,127)
Contract liabilities - included in advance billings on contracts, change, percent	(32.00%)
Costs of revenue recognized less cost incurred
Contract liabilities - included in advance billings on contracts:
Contract liabilities - included in advance billings on contracts	$ 5,066	19,786
Contract liabilities - included in advance billings on contracts, change	$ (14,720)
Contract liabilities - included in advance billings on contracts, change, percent	(74.00%)
Costs incurred less costs of revenue recognized
Contract assets - included in contracts in progress:
Contract assets - included in contracts in progress	$ 37,556	62,662
Contract assets - included in contracts in progress, change	$ (25,106)
Contract assets - included in contracts in progress, change, percent	(40.00%)
Revenues recognized less billings to customers
Contract assets - included in contracts in progress:
Contract assets - included in contracts in progress	$ 52,498	$ 55,518
Contract assets - included in contracts in progress, change	$ (3,020)
Contract assets - included in contracts in progress, change, percent	(5.00%)