STOCKHOLDERS' EQUITY - Repurchase of Common Stock (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023		Dec. 31, 2022	Dec. 31, 2021
Stockholders' Equity Note [Abstract]
Number of shares authorized to be repurchased (in shares)	3,763,038
Aggregate number of shares repurchased since inception (in shares)	3,103,106
Repurchases of common stock	$ 4,514	[1]	$ 35,423	$ 35,239
Number of shares acquired under the stock repurchase plan and subsequently reissued (in shares)	32,558		252,304	249,848
Shares repurchased, average cost (in dollars per share)	$ 137.29		$ 140.40	$ 141.04

[1]  * On August 16, 2022, the U.S. government enacted the Inflation Reduction Act (the "IRA") into law. The IRA imposes a 1% excise tax on share repurchases, which is effective for repurchases completed after December 31, 2022. The excise tax is recorded within equity as part of the repurchase of the common stock.