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EMPLOYEE BENEFIT PLANS - Stock-Based Compensation Expenses (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | $ 25,212 | $ 24,056 | $ 18,040
RSUs |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 17,786 | 14,573 | 11,522
PRSUs |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 3,865 | 6,231 | 4,022
MRSUs |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 1,558 | 1,304 | 711
Employee stock purchase rights under ESPP |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 2,003 | 1,948 | 1,785
Cost of revenue |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 2,233 | 2,345 | 1,712
Research and development expense |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 7,519 | 7,164 | 4,850
Selling, general and administrative expense |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | $ 15,460 | $ 14,547 | $ 11,478

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