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STOCK-BASED COMPENSATION - Stock option activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Aggregate Intrinsic Value        
Proceeds from stock option exercises and ESPP purchases $ 1,458 $ 2,069 $ 618  
Options        
Option Shares        
Outstanding at the beginning of the period (in shares) 988 936 757  
Granted (in shares) 36 168 231  
Exercised (in shares) (23) (42) (8)  
Forfeited (in shares) (47) (19) (44)  
Expired (in shares) (47) (55)    
Outstanding at the end of the period (in shares) 907 988 936 757
Exercisable at the end of the period (in shares) 686      
Weighted Average Exercise Price        
Outstanding at the beginning of the period (in dollars per share) $ 45.56 $ 48.44 $ 54.21  
Granted (in dollars per share) 34.52 33.09 30.29  
Exercised (in dollars per share) 30.03 40.25 36.81  
Forfeited (in dollars per share) 36.91 59.84 54.54  
Expired (in dollars per share) 55.07 55.59    
Outstanding at the end of the period (in dollars per share) 45.47 45.56 48.44 $ 54.21
Exercisable at the end of the period (in dollars per share) 49.31      
Weighted Average Grant-date Fair Value        
Granted (in dollars per share) $ 16.82 $ 15.71 $ 14.39  
Weighted Average Remaining Term (years)        
Outstanding at the end of the period weighted average remaining term 5 years 7 months 6 days 6 years 7 months 6 days 7 years 1 month 6 days 7 years 2 months 12 days
Exercisable at the end of the period weighted average remaining term 4 years 10 months 24 days      
Aggregate Intrinsic Value        
Outstanding at the beginning of the period intrinsic value (in dollars) $ 6,786 $ 372 $ 6,761  
Exercised at the end of the period intrinsic value (in dollars) 153 552 216  
Outstanding at the end of the period intrinsic value (in dollars) 3,868 6,786 372 $ 6,761
Exercisable at the end of the period intrinsic value (in dollars) 2,003      
Unrecognized option costs $ 3,200      
Period of cost recognition 2 years      
Proceeds from stock option exercises and ESPP purchases $ 700 1,700 300  
Stock options exercise tax benefit $ 100 $ 100 $ 43