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BASIS OF PREPARATION AND SUMMARY OF SIGNIFICANT ACCOUNTING POLICIES - Stock-based Compensation (Details)
12 Months Ended
Dec. 31, 2023
share_based_compensation_plan
shares
Employee stock-based compensation programs  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Stockholder-approved plans 2
Employee stock-based compensation programs | Restricted shares and restricted stock units  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Graded vesting period 5 years
Employee stock-based compensation programs | Options  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Award expiration term 10 years
Director plans  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Stockholder-approved plans 2
Director plans | Options  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Award expiration term 10 years
2017 Non-Employee Director Equity Plan  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Graded vesting period 1 year
2020 Long-Term Incentive Plan and the 2017 Non-Employee Director Equity Plan  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Shares available for future grant (shares) | shares 9,004,208