INCOME TAXES - Schedule of Effective Income Tax Rates Different from Statutory Federal Income Tax Rates (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory federal income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal income tax benefit	0.80%	0.90%	0.70%
Research tax credit	(1.30%)	(1.80%)	(1.00%)
(Decrease) Increase in reserve for uncertain tax provisions	0.00%	(0.20%)	0.10%
Non-deductible executive compensation	0.10%	0.30%	0.10%
Non-deductible expenses	0.10%	0.30%	0.00%
Foreign tax credit	(0.50%)	(0.30%)	(0.20%)
Foreign derived intangible income deduction	(5.10%)	(6.20%)	(6.30%)
Stock compensation	(0.40%)	(0.60%)	(1.30%)
Other	0.50%	0.40%	0.20%
Effective income tax rate	15.20%	13.80%	13.30%