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EMPLOYEE BENEFIT PLANS - Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in shares) | 0 | 0 | 0
Intrinsic value of options exercised | $ 3,900,000 | $ 2,100,000 | $ 200,000
Income tax benefit from stock option exercises | 300,000 | 0 | 0
Payments of dividends | 0 | 0 | 0
TVN |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Employer contributions made | 0 |  |
Expected employer contributions in 2023 | $ 0 |  |
1995 Stock Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share exercise price (in percent) | 100.00% |  |
Expiration period (in years) | 7 years |  |
Common stock capital shares reserved for future issuance (in shares) | 7,000,000 |  |
Common stock reserved for issuance (in shares) | 10,984,093 |  |
Shares available for grant (in shares) | 7,667,045 |  |
1995 Stock Plan | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period (in years) | 2 years |  |
1995 Stock Plan | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period (in years) | 4 years |  |
2002 Director Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share exercise price (in percent) | 100.00% |  |
Common stock reserved for issuance (in shares) | 706,377 |  |
Shares available for grant (in shares) | 524,199 |  |
Incentive Stock Option or Non-statutory Stock Option with Exercise Price less than 100% Fair Value of Common Stock on Grant Date | 1995 Stock Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in shares) | 0 |  |
RSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Fair value | $ 22,400,000 | $ 18,300,000 | $ 15,500,000
Unrecognized share-based compensation cost | $ 19,700,000 |  |
Weighted-average period (in years) | 1 year 4 months 24 days |  |
Weighted average fair value (in dollars per share) | $ 9.47 |  |
RSUs | 1995 Stock Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Weighted average exercise price (in dollars per share) | 0 |  |
RSUs | 2002 Director Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Weighted average exercise price (in dollars per share) | $ 0 |  |
Vesting period (in years) | 1 year |  |
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Weighted average exercise price (in dollars per share) | $ 0 | $ 3.15 |
Stock options | 2002 Director Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period (in years) | 3 years |  |
Expiration period (in years) | 7 years |  |
Employee stock purchase rights under ESPP |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share exercise price (in percent) | 85.00% |  |
Common stock capital shares reserved for future issuance (in shares) | 1,000,000 |  |
Common stock reserved for issuance (in shares) | 1,366,962 |  |
Employees payroll deductions minimum (in percent) | 1.00% |  |
Employees payroll deductions maximum (in percent) | 10.00% |  |
Common stock issued under the 2002 ESPP (in shares) | 817,243 | 1,024,244 | 1,036,543
Stock contributions value under 2002 ESPP | $ 5,900,000 | $ 5,100,000 | $ 4,500,000
Discount on the purchase of the stock (in percent) | 15.00% |  |
Fair value of the put option (in percent) | 15.00% |  |
Weighted average fair value (in dollars per share) | $ 2.91 | $ 2.24 | $ 1.80

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