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COMMITMENTS (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Arrangement Other than Collaborative [Member]      
Commitments And Contingencies [Line Items]      
Subcontracting commitment amount $ 5,300,000    
Royalty Agreement Terms [Member] | Office of the Israeli Innovation Authority [Member]      
Commitments And Contingencies [Line Items]      
Royalty expense included in cost of revenue $ 911,000 $ 1,400,000 $ 1,600,000
Minimum [Member] | Royalty Agreement Terms [Member] | Office of the Israeli Innovation Authority [Member]      
Commitments And Contingencies [Line Items]      
Royalties based on sale of products developed from funded projects, percentage 3.00%    
Maximum [Member] | Royalty Agreement Terms [Member] | Office of the Israeli Innovation Authority [Member]      
Commitments And Contingencies [Line Items]      
Royalties based on sale of products developed from funded projects, percentage 6.00%    
Accrued royalties $ 39,800,000 $ 40,800,000  
Percentage of Royalties to Grant Received 100.00% 100.00% 100.00%
Maximum [Member] | Royalty Agreement Terms [Member] | Outside of Israel [Member]      
Commitments And Contingencies [Line Items]      
Percentage of Royalties to Grant Received 300.00% 300.00% 300.00%