How to modify XML error messages with CXF?

Issue

• We have a JAX-WS CXF service which receives the request with security header. If authentication fails, the service sends back a generic message "org.apache.ws.security.WSSecurityException: The security token could not be authenticated or authorized..." which is also included in the SOAP response body. Instead of the generic message, we would like to generate a customized meaningful message so user understands the exception well. How can we do this?