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Shareholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2021
Stockholders' Equity Note [Abstract]  
Schedule of share option activity and related information
  

Number

of shares upon exercise

   Weighted average exercise price  

Weighted- average remaining contractual term

(in years)

  

Aggregate intrinsic

value

 
                 
Outstanding at beginning of year   686,456   $18.66    6.87   $48,375 
Granted   5,005    125.25    
-
    
-
 
Exercised   (254,308)   19.12    
-
    27,181 
Forfeited   (23,978)   17.49    
-
    
-
 
                     
Outstanding at end of year   413,175   $19.58    5.79   $54,815 
                     
Exercisable at end of year   291,953   $15.46    5.16   $39,936 

 
Schedule of RSU’s activity
  

Number

of RSUs

 
     
Unvested at beginning of year   834,321 
Granted   274,800 
Vested   (334,016)
Forfeited   (90,439)
      
Unvested at the end of the year   684,666 

 
Schedule of share based compensation expense
  

Year ended December 31,

 
   2021   2020   2019 
             
Cost of products  $1,355   $1,056   $632 
Cost of services   1,105    771    520 
Research and development, net   2,685    1,712    1,294 
Sales and marketing   5,004    2,893    1,689 
General and administrative   4,984    3,604    2,479 
                
Total share-based compensation expense  $15,133   $10,036   $6,614