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CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Revenues:      
Total revenues $ 200,287 $ 176,223 $ 156,739
Cost of revenues:      
Total cost of revenues 105,329 65,617 58,894
Gross profit 94,958 110,606 97,845
Operating expenses:      
Research and development, net 41,199 34,661 30,348
Selling and marketing 51,535 49,335 48,954
General and administrative 11,778 10,251 8,893
Total operating expenses 104,512 94,247 88,195
Operating income (loss) (9,554) 16,359 9,650
Financial income (expenses), net (1,761) 228 (10)
Income (loss) before taxes on income (11,315) 16,587 9,640
Tax benefit (taxes on income) 15,292 (3,094) (5,610)
Net income $ 3,977 $ 13,493 $ 4,030
Earnings per share      
Basic (in dollars per share) $ 0.14 $ 0.47 $ 0.13
Diluted (in dollars per share) $ 0.13 $ 0.45 $ 0.13
Weighted average number of shares used in computations of earnings per share:      
Basic (in shares) 29,251,888 28,928,060 31,103,703
Diluted (in shares) 30,799,904 30,219,806 32,168,362
Product [Member]      
Revenues:      
Revenue from Contract with Customer, Including Assessed Tax $ 135,646 $ 119,887 $ 107,482
Cost of revenues:      
Cost of Goods and Services Sold 59,022 51,878 47,445
Service [Member]      
Revenues:      
Revenue from Contract with Customer, Including Assessed Tax 64,641 56,336 49,257
Cost of revenues:      
Cost of Goods and Services Sold 14,129 $ 13,739 $ 11,449
Expenses related to royalty buyout agreement with the Israel National Authority for Technology and Innovation (Note12b)      
Cost of revenues:      
Cost of Goods and Services Sold $ 32,178