Annual report pursuant to Section 13 and 15(d)

BORROWINGS - 2018 Term Loan (Details)

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BORROWINGS - 2018 Term Loan (Details) - USD ($)
12 Months Ended
Sep. 28, 2018
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]        
Loss on extinguishment of debt   $ 32,295,000 $ 0 $ (1,422,000)
2018 Term Loan | Loans Payable        
Debt Instrument [Line Items]        
Debt term (in years) 3 years      
Principal amount $ 60,000,000      
Loss on extinguishment of debt       $ 700,000