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PREFERRED AND COMMON STOCKHOLDERS' EQUITY - Schedule of Shares of Common Stock Issued and Outstanding (Details) - shares
shares in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Beginning common stock issued (in shares) 81.2 80.0 75.4
Beginning common stock outstanding (in shares) 81.2 80.0 75.4
Common stock issued upon exercise of options, vesting of restricted stock units, and purchases under employee stock purchase plans (in shares) 1.3 1.2 4.6
Common stock issued for public offering (in shares) 7.4 0.0 0.0
Ending common stock issued (in shares) 89.9 81.2 80.0
Ending common stock outstanding (in shares) 89.9 81.2 80.0