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SHAREHOLDERS' EQUITY (Tables) | 12 Months Ended
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Dec. 31, 2023
Stockholders' Equity Note [Abstract] |
Schedule of Stock Option Activity |
|  | Year ended December 31, |
|  | 2023 |  |  | 2022 |  |  | 2021 |
|  | 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 |  |  | 487,839 |  |  | $ | 5.96 |  |  |  | 675,986 |  |  | $ | 7.99 |  |  |  | 1,134,256 |  |  | $ | 7.68 |
Forfeited |  |  | (72,480 | ) |  | $ | 9.04 |  |  |  | (139,494 | ) |  | $ | 16.08 |  |  |  | (30,861 | ) |  | $ | 16.78 |
Exercised |  |  | (1,364 | ) |  | $ | 0.03 |  |  |  | (48,653 | ) |  | $ | 5.01 |  |  |  | (427,409 | ) |  | $ | 6.54 |
Outstanding at end of year |  |  | 413,995 |  |  | $ | 5.44 |  |  |  | 487,839 |  |  | $ | 5.96 |  |  |  | 675,986 |  |  | $ | 7.99 |
Exercisable at end of year |  |  | 413,995 |  |  | $ | 5.44 |  |  |  | 487,839 |  |  | $ | 5.96 |  |  |  | 660,986 |  |  | $ | 8.04 |
Vested and expected to vest |  |  | 413,995 |  |  | $ | 5.44 |  |  |  | 487,839 |  |  | $ | 5.96 |  |  |  | 675,584 |  |  | $ | 7.99 |
Summary of Restricted Stock Unit Activity |
|  | Year ended December 31, |
|  | 2023 |  |  | 2022 |
|  | Number of shares upon exercise |  |  | Weighted average share price |  |  | Number of shares upon exercise |  |  | Weighted average share price |
Outstanding at beginning of year |  |  | 2,255,620 |  |  | $ | 8.52 |  |  |  | 1,937,908 |  |  | $ | 12.92 |
Granted |  |  | 1,330,500 |  |  | $ | 2.47 |  |  |  | 1,473,400 |  |  | $ | 5.22 |
Vested |  |  | (1,005,532 | ) |  | $ | 2.19 |  |  |  | (829,910 | ) |  | $ | 15.82 |
Forfeited |  |  | (316,889 | ) |  | $ | 2.38 |  |  |  | (325,778 | ) |  | $ | 5.78 |
Unvested at end of year |  |  | 2,263,699 |  |  | $ | 4.95 |  |  |  | 2,255,620 |  |  | $ | 8.52 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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