EMPLOYEE BENEFIT PLANS - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	0
Achievement percentage	100.00%
Payments of dividends	$ 0	$ 0	$ 0
TVN
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Employer contributions made	0
Expected employer contributions in 2023	$ 0
1995 Stock Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share exercise price (in percent)	100.00%
Expiration period (in years)	7 years
Common stock reserved for issuance (in shares)	8,537,211
Shares available for grant (in shares)	5,481,584
1995 Stock Plan | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	2 years
1995 Stock Plan | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	4 years
2002 Director Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share exercise price (in percent)	100.00%
Common stock reserved for issuance (in shares)	637,671
Shares available for grant (in shares)	451,077
Incentive Stock Option or Non-statutory Stock Option with Exercise Price less than 100% Fair Value of Common Stock on Grant Date | 1995 Stock Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	0
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value	$ 22,500,000	$ 22,400,000	$ 18,300,000
Unrecognized share-based compensation cost	$ 26,300,000
Weighted-average period (in years)	1 year 7 months 6 days
Weighted average fair value (in dollars per share)	$ 13.65
RSUs | 1995 Stock Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	0
RSUs | 2002 Director Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 0
Vesting period (in years)	1 year
PRSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	268,704
MRSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)	236,749
Stock options | 2002 Director Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period (in years)	3 years
Expiration period (in years)	7 years
Employee stock purchase rights under ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share exercise price (in percent)	85.00%
Common stock reserved for issuance (in shares)	633,932
Employees payroll deductions minimum (in percent)	1.00%
Employees payroll deductions maximum (in percent)	10.00%
Common stock capital shares reserved for future issuance (in shares)	650,000
Common stock issued under the 2002 ESPP (in shares)	733,030	817,243	1,024,244
Stock contributions value under 2002 ESPP	$ 6,600,000	$ 5,900,000	$ 5,100,000
Discount on the purchase of the stock (in percent)	15.00%
Fair value of the put option (in percent)	15.00%
Weighted average fair value (in dollars per share)	$ 4.23	$ 2.91	$ 2.24