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GEOGRAPHIC INFORMATION - Total revenues and Long-lived assets (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Revenues from External Customers and Long-Lived Assets [Line Items]      
Total revenues $ 200,287 $ 176,223 $ 156,739
Long-lived assets 4,392 3,865 3,835
Americas, principally the U.S. [Member]      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Total revenues 97,453 86,636 81,051
Long-lived assets 521 219 96
Europe [Member]      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Total revenues 72,956 59,193 49,229
Long-lived assets 81 109 106
Far East [Member]      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Total revenues 27,233 25,887 24,238
Long-lived assets 84 70 64
Israel [Member]      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Total revenues 2,645 4,507 2,221
Long-lived assets $ 3,706 $ 3,467 $ 3,569