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EMPLOYEE BENEFIT PLANS - Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in shares) | 0 |  |
Achievement percentage | 100.00% |  |
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 reserved for issuance (in shares) | 8,537,211 |  |
Shares available for grant (in shares) | 5,481,584 |  |
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) | 637,671 |  |
Shares available for grant (in shares) | 451,077 |  |
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 | $ 22,500,000 | $ 22,400,000 | $ 18,300,000
Unrecognized share-based compensation cost | $ 26,300,000 |  |
Weighted-average period (in years) | 1 year 7 months 6 days |  |
Weighted average fair value (in dollars per share) | $ 13.65 |  |
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 |  |
PRSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in shares) | 268,704 |  |
MRSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in shares) | 236,749 |  |
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 reserved for issuance (in shares) | 633,932 |  |
Employees payroll deductions minimum (in percent) | 1.00% |  |
Employees payroll deductions maximum (in percent) | 10.00% |  |
Common stock capital shares reserved for future issuance (in shares) | 650,000 |  |
Common stock issued under the 2002 ESPP (in shares) | 733,030 | 817,243 | 1,024,244
Stock contributions value under 2002 ESPP | $ 6,600,000 | $ 5,900,000 | $ 5,100,000
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) | $ 4.23 | $ 2.91 | $ 2.24

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