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EMPLOYEE BENEFIT PLANS - Schedule of Allocation of the Share-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | $ 27,329 | $ 25,212 | $ 24,056
RSUs |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 19,863 | 17,786 | 14,573
PRSUs |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 3,398 | 3,865 | 6,231
MRSUs |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 1,705 | 1,558 | 1,304
Employee stock purchase rights under ESPP |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 2,363 | 2,003 | 1,948
Cost of revenue |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 2,348 | 2,233 | 2,345
Research and development expense |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | 7,889 | 7,519 | 7,164
Selling, general and administrative expense |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation | $ 17,092 | $ 15,460 | $ 14,547

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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