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CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenues:      
Total revenues $ 244,383 $ 275,093 $ 248,920
Cost of revenues:      
Total cost of revenues 86,034 96,315 78,029
Gross profit 158,349 178,778 170,891
Operating expenses:      
Research and development, net 57,169 59,842 53,396
Selling and marketing 70,243 70,123 62,057
General and administrative 16,513 17,494 15,914
Total operating expenses 143,925 147,459 131,367
Operating income 14,424 31,319 39,524
Financial income (expenses), net (52) 2,864 123
Income before taxes on income 14,372 34,183 39,647
Taxes on income 5,592 5,717 5,896
Net income $ 8,780 $ 28,466 $ 33,751
Earnings per share:      
Basic $ 0.28 $ 0.89 $ 1.03
Diluted $ 0.28 $ 0.88 $ 1.00
Weighted average number of shares used in computations of earnings per share:      
Basic 31,400,900 31,849,422 32,703,478
Diluted 31,578,713 32,500,141 33,845,559
Products      
Revenues:      
Revenues $ 123,991 $ 164,302 $ 155,089
Cost of revenues:      
Cost of revenues 47,964 63,686 52,750
Services      
Revenues:      
Revenues 120,392 110,791 93,831
Cost of revenues:      
Cost of revenues $ 38,070 $ 32,629 $ 25,279