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CONSOLIDATED STATEMENTS OF COMPREHENSIVE LOSS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Revenues:      
Total revenues $ 145,600 $ 135,922 $ 110,100
Cost of revenues:      
Total cost of revenues 44,553 40,082 33,834
Gross profit 101,047 95,840 76,266
Operating expenses:      
Research and development (net of grant participations of $ 167, $ 339 and $ 378 for the years ended December 31, 2021, 2020 and 2019, respectively) 47,093 43,447 31,461
Sales and marketing 52,337 47,528 47,105
General and administrative 15,145 13,894 6,678
Total operating expenses 114,575 104,869 85,244
Operating loss (13,528) (9,029) (8,978)
Financial income, net 339 1,857 1,960
Loss before income tax expense (13,189) (7,172) (7,018)
Income tax expense 1,851 2,176 1,641
Net loss (15,040) (9,348) (8,659)
Unrealized gain (loss) on available-for-sale marketable securities (359) 191 666
Net amount reclassified to earnings from available-for-sale marketable securities (15) (40) 4
Total comprehensive gain (loss) from available-for-sale marketable securities (374) 151 670
Unrealized gain (loss) on foreign currency cash flow hedges transactions 1,269 723 (332)
Net amount reclassified to earnings from hedging transactions (770) (203) (96)
Total comprehensive gain (loss) from hedge transactions 499 520 (428)
Total comprehensive loss $ (14,915) $ (8,677) $ (8,417)
Net loss per share:      
Basic and diluted $ (0.42) $ (0.27) $ (0.25)
Weighted average number of shares used in per share computations of net loss:      
Basic and diluted 36,050,540 35,007,201 34,250,582
Product [Member]      
Revenues:      
Total revenues $ 88,229 $ 92,524 $ 67,440
Cost of revenues:      
Total cost of revenues 31,603 28,524 22,743
Service [Member]      
Revenues:      
Total revenues 57,371 43,398 42,660
Cost of revenues:      
Total cost of revenues $ 12,950 $ 11,558 $ 11,091