STOCKHOLDERS’ EQUITY - Narrative (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 30, 2023	Feb. 28, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock repurchase program, authorized amount		$ 100.0
Stock repurchased and retired during period (in shares)	0
Remaining stock repurchase authorization amount	$ 94.9
Stock Plan 1995
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)	9,221,697
Shares available for grant (in shares)	5,713,754
Director Option Plans 2002
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)	637,671
Shares available for grant (in shares)	451,077
Stock purchase rights under the ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance under the ESPP (in shares)	650,000