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CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenues:      
Total revenues $ 275,093 $ 248,920 $ 220,774
Cost of revenues:      
Total cost of revenues 96,315 78,029 70,958
Gross profit 178,778 170,891 149,816
Operating expenses:      
Research and development, net 59,842 53,396 46,072
Selling and marketing 70,123 62,057 51,217
General and administrative 17,494 15,914 14,177
Total operating expenses 147,459 131,367 111,466
Operating income 31,319 39,524 38,350
Financial income (expenses), net 2,864 123 (1,703)
Total, before income taxes 34,183 39,647 36,647
Taxes on income 5,717 5,896 9,399
Net income $ 28,466 $ 33,751 $ 27,248
Earnings per share:      
Basic $ 0.89 $ 1.03 $ 0.87
Diluted $ 0.88 $ 1.00 $ 0.83
Weighted average number of shares used in computations of earnings per share:      
Basic 31,849,422 32,703,478 31,440,093
Diluted 32,500,141 33,845,559 32,915,683
Products      
Revenues:      
Revenues $ 164,302 $ 155,089 $ 145,332
Cost of revenues:      
Cost of revenues 63,686 52,750 54,384
Services      
Revenues:      
Revenues 110,791 93,831 75,442
Cost of revenues:      
Cost of revenues $ 32,629 $ 25,279 $ 16,574