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SHAREHOLDERS' EQUITY (Tables)
 12 Months Ended
Dec. 31, 2022
Stockholders' Equity Note [Abstract]  
Schedule of Stock Option Activity
   
Year ended December 31,
  
   
2022
    
2021
    
2020
  
   
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
    
675,986
    
$
7.99
      
1,134,256
    
$
7.68
      
1,453,741
    
$
7.59
  
Granted
    
-
    
$
-
      
-
    
$
-
      
-
    
$
-
  
Forfeited
    
(139,494
)
  
$
16.08
      
(30,861
)
  
$
16.78
      
(28,657
)
  
$
17.47
  
Exercised
    
(48,653
)
  
$
5.01
      
(427,409
)
  
$
6.54
      
(290,828
)
  
$
6.25
  
                                                 
Outstanding at end of year
    
487,839
    
$
5.96
      
675,986
    
$
7.99
      
1,134,256
    
$
7.68
  
                                                 
Exercisable at end of year
    
487,839
    
$
5.96
      
660,986
    
$
8.04
      
1,065,498
    
$
7.83
  
                                                 
Vested and expected to vest
    
487,839
    
$
5.96
      
675,584
    
$
7.99
      
1,132,007
    
$
7.68
  
Schedule of Stock Options Outstanding
 
Exercise price
    
Shares upon exercise of options outstanding as of December 31, 2022
    
Weighted average remaining contractual life
    
Shares upon exercise of options exercisable as of December 31, 2022
  
           
Years
        
                     
$
15.2-17.07
      
4,500
      
1.12
      
4,500
  
$
10.0 -14.68
      
52,750
      
0.78
      
52,750
  
$
5.01-9.7
      
73,563
      
2.28
      
73,563
  
$
0.1-4.95
      
357,026
      
1.23
      
357,026
  
                             
         
487,839
              
487,839
  
Summary of Restricted Stock Unit Activity
   
Year ended December 31,
  
   
2022
    
2021
  
   
Number
of shares upon exercise
    
Weighted average share price
    
Number
of shares upon exercise
    
Weighted average share price
  
                         
Outstanding at beginning of year
    
1,937,908
    
$
12.92
      
1,763,017
    
$
8.63
  
Granted
    
1,473,400
    
$
5.22
      
1,149,500
    
$
16.26
  
Vested
    
(829,910
)
  
$
15.82
      
(681,433
)
  
$
15.82
  
Forfeited
    
(325,778
)
  
$
5.78
      
(293,176
)
  
$
16.39
  
                                 
Unvested at end of year
    
2,255,620
    
$
8.52
      
1,937,908
    
$
12.92