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SHAREHOLDERS' EQUITY (Tables)
 12 Months Ended
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