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SHAREHOLDERS' EQUITY (Tables) | 12 Months Ended
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Dec. 31, 2021
Stockholders' Equity Note [Abstract] |
Schedule of Stock Option Activity |
|  | Year ended December 31, |  |  |
|  | 2021 |  |  | 2020 |  |  | 2019 |
|  | Number of shares upon exercise |  |  | Weighted average exercise price |  |  | Number of shares upon exercise |  |  | Weighted average exercise price |  |  | Number of shares upon exercise |  |  | Weighted average exercise price |
Outstanding at beginning of year |  |  | 1,134,256 |  |  | $ | 7.68 |  |  |  | 1,453,741 |  |  | $ | 7.59 |  |  |  | 1,736,143 |  |  | $ | 7.26 |
Granted |  |  | - |  |  | $ | - |  |  |  | - |  |  | $ | - |  |  |  | - |  |  | $ | - |
Forfeited |  |  | (30,861 | ) |  | $ | 16.78 |  |  |  | (28,657 | ) |  | $ | 17.47 |  |  |  | (59,107 | ) |  | $ | 10.05 |
Exercised |  |  | (427,409 | ) |  | $ | 6.54 |  |  |  | (290,828 | ) |  | $ | 6.25 |  |  |  | (223,295 | ) |  | $ | 4.36 |
Outstanding at end of year |  |  | 675,986 |  |  | $ | 7.99 |  |  |  | 1,134,256 |  |  | $ | 7.68 |  |  |  | 1,453,741 |  |  | $ | 7.59 |
Exercisable at end of year |  |  | 660,986 |  |  | $ | 8.04 |  |  |  | 1,065,498 |  |  | $ | 7.83 |  |  |  | 1,240,005 |  |  | $ | 8.01 |
Vested and expected to vest |  |  | 675,584 |  |  | $ | 7.99 |  |  |  | 1,132,007 |  |  | $ | 7.68 |  |  |  | 1,442,990 |  |  | $ | 7.61 |
Schedule of Stock Options Outstanding |
Exercise price |  |  | Shares upon exercise of options outstanding as of December 31, 2021 |  |  | Weighted average remaining contractual life |  |  | Shares upon exercise of options exercisable as of December 31, 2021 |
|  |  |  |  |  | Years |  |  |  |
$ | 23.31-27.58 |  |  |  | 45,500 |  |  |  | 0.65 |  |  |  | 45,500 |
$ | 15.2-17.07 |  |  |  | 13,000 |  |  |  | 1.04 |  |  |  | 13,000 |
$ | 10.0 -14.68 |  |  |  | 98,007 |  |  |  | 1.71 |  |  |  | 98,007 |
$ | 5.01-9.7 |  |  |  | 140,300 |  |  |  | 1.9 |  |  |  | 125,300 |
$ | 0.1-4.95 |  |  |  | 379,179 |  |  |  | 2.17 |  |  |  | 379,179 |
|  |  |  |  | 675,986 |  |  |  |  |  |  |  | 660,986 |
Summary of Restricted Stock Unit Activity |
|  | Year ended December 31, |
|  | 2021 |  |  | 2020 |
|  | Number of shares upon exercise |  |  | Weighted average share price |  |  | Number of shares upon exercise |  |  | Weighted average share price |
Outstanding at beginning of year |  |  | 1,763,017 |  |  | $ | 8.63 |  |  |  | 1,652,060 |  |  | $ | 6.53 |
Granted |  |  | 1,149,500 |  |  | $ | 16.26 |  |  |  | 869,250 |  |  | $ | 10.96 |
Vested |  |  | (681,433 | ) |  | $ | 15.82 |  |  |  | (570,000 | ) |  | $ | 10.69 |
Forfeited |  |  | (293,176 | ) |  | $ | 16.39 |  |  |  | (188,293 | ) |  | $ | 10.01 |
Unvested at end of year |  |  | 1,937,908 |  |  | $ | 12.92 |  |  |  | 1,763,017 |  |  | $ | 8.63 |

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