REVENUE AND RECEIVABLES - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Contract Assets and Liabilities
Contract Asset - current	$ 3,616	$ 2,932
Change in contract asset - current	$ 684
% of change in contract asset - current	23.30%
Contract Asset - noncurrent	$ 5,509	3,775
Change in contract asset - noncurrent	$ 1,734
% of change in contract asset - noncurrent	45.90%
Contract liability- current	$ (30,990)	(27,284)
Change in contract liabilities - current	$ (3,706)
% of change in contract liabilities - current	13.60%
Contract liability- noncurrent	$ (64,035)	(72,543)
Change in contract liabilities - noncurrent	$ 8,508
% of change in contract liabilities - Noncurrent	(11.70%)
Net contract liability	$ (85,900)	(93,120)
Change in net contract liability	$ 7,220
% of change in net contract liability	(7.80%)
Revenue recognized related to contract liability	$ 27,600	25,100
Amortization of contract assets	$ 3,000	3,600
Revenue recognized in the period related to performance obligations that were satisfied or partially satisfied in previous periods		$ 0	$ 0