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STOCK-BASED COMPENSATION - Performance Share Plans (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Weighted average grant date fair value      
Vested weighted average exercise price (in dollar per share) $ 70.39    
Conversion ratio 1.13    
Total Stockholder Return      
Number of shares (in thousands)      
Nonvested ending Balance (in shares) | shares 250 259 271
Granted (in shares) | shares 135 138 135
Vested (in shares) | shares (114) (127) (143)
Forfeited (in shares) | shares (11) (20) (4)
PHINIA spin-off awards transferred (in shares) | shares (22)    
PHINIA spin-off adjustment (in shares) | shares 35    
Nonvested ending Balance (in shares) | shares 273 250 259
Weighted average grant date fair value      
Nonvested weighted average exercise price beginning balance (in dollar per share) $ 76.68 $ 56.90 $ 45.20
Granted the weighted average exercise price (in dollar per share) 79.39 66.96 70.39
Vested weighted average exercise price (in dollar per share)   28.55 47.93
Forfeited weighted average exercise price (in dollar per share) 68.66 59.87 37.28
PHINIA spin-off awards transferred (in dollar per share) 72.33    
PHINIA spin-off adjustment weighted average exercise price (in dollar per share) 0    
Nonvested weighted average exercise price beginning balance (in dollar per share) $ 71.37 $ 76.68 $ 56.90
Other Performance-Based      
Number of shares (in thousands)      
Nonvested ending Balance (in shares) | shares 765 640 385
Granted (in shares) | shares 405 415 404
Vested (in shares) | shares (341) (234) (143)
Forfeited (in shares) | shares (34) (56) (6)
PHINIA spin-off awards transferred (in shares) | shares (67)    
PHINIA spin-off adjustment (in shares) | shares 106    
Nonvested ending Balance (in shares) | shares 834 765 640
Weighted average grant date fair value      
Nonvested weighted average exercise price beginning balance (in dollar per share) $ 45.51 $ 42.14 $ 38.66
Granted the weighted average exercise price (in dollar per share) 48.06 44.33 45.30
Vested weighted average exercise price (in dollar per share) 45.14 34.73 41.92
Forfeited weighted average exercise price (in dollar per share) 44.96 43.35 36.79
PHINIA spin-off awards transferred (in dollar per share) 46.03    
PHINIA spin-off adjustment weighted average exercise price (in dollar per share) 0    
Nonvested weighted average exercise price beginning balance (in dollar per share) $ 41.08 $ 45.51 $ 42.14
Period for recognition (in years) 3 years