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CONSOLIDATED STATEMENTS OF COMPREHENSIVE LOSS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenues:      
Total revenues $ 122,737 $ 145,600 $ 135,922
Cost of revenues:      
Cost of Revenue 39,831 44,553 40,082
Gross profit 82,906 101,047 95,840
Operating expenses:      
Research and development (net of grant participations of $ 825, $ 167 and $ 339 for the years ended December 31, 2022, 2021 and 2020, respectively) 49,800 47,093 43,447
Sales and marketing 49,393 52,337 47,528
General and administrative 15,982 15,145 13,894
Total operating expenses 115,175 114,575 104,869
Operating loss (32,269) (13,528) (9,029)
Financial income, net 2,134 339 1,857
Loss before income tax expense (30,135) (13,189) (7,172)
Income tax expense 1,895 1,851 2,176
Net loss $ (32,030) $ (15,040) $ (9,348)
Net loss per share:      
Net loss per share, basic $ (0.87) $ (0.42) $ (0.27)
Net loss per share, diluted $ (0.87) $ (0.42) $ (0.27)
Weighted average number of shares used in per share computations of net loss:      
Weighted average number of shares used in per share, basic 36,975,424 36,050,540 35,007,201
Weighted average number of shares used in per share, diluted 36,975,424 36,050,540 35,007,201
Unrealized gain (loss) on available-for-sale marketable securities $ (140) $ (359) $ 191
Net amount reclassified to earnings from available-for-sale marketable securities 2 (15) (40)
Total comprehensive gain (loss) from available-for-sale marketable securities (138) (374) 151
Unrealized gain (loss) on foreign currency cash flow hedges transactions (5,562) 1,269 723
Net amount reclassified to earnings from hedging transactions 4,175 (770) (203)
Total comprehensive gain (loss) from hedge transactions (1,387) 499 520
Total other comprehensive income (loss) (1,525) 125 671
Total comprehensive loss (33,555) (14,915) (8,677)
Product [Member]      
Revenues:      
Total revenues 60,980 88,229 92,524
Cost of revenues:      
Cost of Revenue 21,345 31,603 28,524
Service [Member]      
Revenues:      
Total revenues 61,757 57,371 43,398
Cost of revenues:      
Cost of Revenue $ 18,486 $ 12,950 $ 11,558