v3.22.4
STOCK PLANS - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Stock Options        
Balance at the beginning of the period (in shares) 6,050,540 6,235,118 6,706,378  
Granted (in shares) 1,061,630 890,277 1,502,803  
Exercised (in shares) (689,464) (732,117) (1,428,111)  
Forfeited (in shares) (113,506) (278,233) (426,925)  
Expired (in shares) (36,206) (64,505) (119,027)  
Balance at the end of the period (in shares) 6,272,994 6,050,540 6,235,118 6,706,378
Exercisable at the end of the period (in shares) 4,224,921      
Vested and expected to vest at the end of the period (in shares) 6,272,994      
Weighted Average Exercise Price (Per Share)        
Balance at the beginning of the period (in dollars per share) $ 49.32 $ 45.98 $ 42.80  
Granted (in dollars per share) 59.99 60.27 47.50  
Exercised (in dollars per share) 35.37 32.56 31.67  
Forfeited (in dollars per share) 54.97 46.46 42.08  
Expired (in dollars per share) 79.90 80.31 71.71  
Balance at the end of the period (in dollars per share) 52.38 $ 49.32 $ 45.98 $ 42.80
Exercisable at the end of the period (in dollars per share) 50.51      
Vested and expected to vest at the end of the period (in dollars per share) $ 52.38      
Weighted Average Remaining Contractual Term (Years)        
Term at the end of the period 6 years 3 months 10 days 6 years 7 months 2 days 6 years 11 months 19 days 7 years 18 days
Term exercisable at the end of the period 5 years 2 months 1 day      
Term vested and expected to vest at the end of the period 6 years 3 months 10 days      
Aggregate Intrinsic Value (in Thousands)        
Balance at the beginning of the period $ 81,407 $ 102,955 $ 50,652  
Exercised 23,983 23,967 34,227  
Balance at the end of the period 2,011 $ 81,407 $ 102,955 $ 50,652
Exercisable at the end of the period 1,997      
Vested and expected to vest at the end of the period $ 2,011