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SHAREHOLDERS' EQUITY (Tables)
 12 Months Ended
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