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COMMITMENTS (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Arrangement Other than Collaborative [Member] |  |  |
Commitments And Contingencies [Line Items] |  |  |
Subcontracting commitment amount | $ 5,300,000 |  |
Royalty Agreement Terms [Member] | Office of the Israeli Innovation Authority [Member] |  |  |
Commitments And Contingencies [Line Items] |  |  |
Royalty expense included in cost of revenue | $ 911,000 | $ 1,400,000 | $ 1,600,000
Minimum [Member] | Royalty Agreement Terms [Member] | Office of the Israeli Innovation Authority [Member] |  |  |
Commitments And Contingencies [Line Items] |  |  |
Royalties based on sale of products developed from funded projects, percentage | 3.00% |  |
Maximum [Member] | Royalty Agreement Terms [Member] | Office of the Israeli Innovation Authority [Member] |  |  |
Commitments And Contingencies [Line Items] |  |  |
Royalties based on sale of products developed from funded projects, percentage | 6.00% |  |
Accrued royalties | $ 39,800,000 | $ 40,800,000 |
Percentage of Royalties to Grant Received | 100.00% | 100.00% | 100.00%
Maximum [Member] | Royalty Agreement Terms [Member] | Outside of Israel [Member] |  |  |
Commitments And Contingencies [Line Items] |  |  |
Percentage of Royalties to Grant Received | 300.00% | 300.00% | 300.00%

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