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REVENUE - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Revenue and Concentration Risk [Line Items]        
Revenue increase (decrease) due to changes in estimated transaction price due to contractual adjustments $ 7,100,000 $ (5,300,000) $ 6,200,000 $ 20,100,000
Capitalized costs incurred to obtain or fulfill contract $ 0   $ 0  
Performance Obligation Estimate        
Revenue and Concentration Risk [Line Items]        
Change in earnings per share (dollars per share) $ 0.07 $ (0.05) $ 0.06 $ 0.19
Government Contracts Concentration Risk | Medicare | Revenues        
Revenue and Concentration Risk [Line Items]        
Concentration risk (percent) 12.00% 15.00% 12.00% 14.00%
Customer concentration | Medicare | Accounts receivable        
Revenue and Concentration Risk [Line Items]        
Concentration risk (percent)     13.00%