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STOCKHOLDERS' EQUITY - Common Stock Shares Outstanding (Details) - shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Common Stock Shares Outstanding [Abstract]    
Beginning balance 56,738,000 56,961,000
Common stock issued under employee stock plans 228,000 268,000
Repurchased (207,000) (23,000)
Ending balance 56,759,000 57,206,000