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INCOME TAXES - Summary of Reconciliation of Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S. federal statutory rate	21.00%	21.00%	21.00%
State taxes	1.50%	2.00%	0.30%
Foreign	2.00%	3.80%	3.30%
Research and development credit	(0.60%)	(0.80%)	(0.80%)
Non-taxable gain on acquisition	(0.80%)	0.00%	0.00%
U.S. net operating loss carryback	0.00%	0.00%	(3.40%)
Changes in valuation allowances	1.00%	(2.00%)	3.00%
U.S. tax reform provision	0.60%	0.10%	0.70%
Other, net	(0.20%)	0.90%	(0.90%)
Effective rate	24.50%	25.00%	23.20%

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- Definition

Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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