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REVENUE - Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Contract Liabilities      
Beginning balance $ 157,910 $ 161,114 $ 145,493
Revenue recognized, included in beginning balance (112,224) (117,947) (93,195)
Additions, net of revenue recognized during period, and other 136,213 114,743 108,816
Ending balance $ 181,899 $ 157,910 $ 161,114