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EQUITY INCENTIVE PLAN AND STOCK-BASED COMPENSATION - Schedule of Stock Option Activity Under 2006 and 2016 Plans (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Options Outstanding    
Beginning balance (in shares) | shares 328  
Options exercised (in shares) | shares (21)  
Ending balance (in shares) | shares 307 328
Options exercisable (in shares) | shares 307  
Weighted- Average Exercise Price Per Share    
Beginning balance (in USD per share) | $ / shares $ 43.00  
Options exercised (in USD per share) | $ / shares 53.03  
Ending balance (in USD per share) | $ / shares 42.32 $ 43.00
Options exercisable (in USD per share) | $ / shares $ 42.32  
Weighted- Average Remaining Contractual Life (years)    
Weighted-average remaining contractual life for options outstanding (in years) 3 years 7 months 28 days 4 years 5 months 4 days
Weighted-average remaining contractual life for options exercisable (in years) 3 years 7 months 28 days  
Aggregate Intrinsic Value    
Aggregate intrinsic value of options outstanding | $ $ 15,964 $ 16,635
Aggregate intrinsic value of options exercisable | $ $ 15,964