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EMPLOYEE BENEFIT PLANS (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Restricted Stock Units Outstanding
(in thousands, except per share amounts)Number
of
Shares		Weighted Average
Grant-Date Fair Value
Per Share
Balance at December 31, 20223,499 $8.93 
Granted2,539 13.65 
Vested(2,516)8.96 
Forfeited(280)9.40 
Balance at December 31, 2023
3,242 $12.42 
Schedule of Allocation of the Share-Based Compensation Expense
The following table sets forth the detailed allocation of the share-based compensation expense which was included in the Company’s Consolidated Statements of Operations:
 Year Ended December 31,
(in thousands)202320222021
Share-based compensation expense included in:
Cost of revenue$2,348 $2,233 $2,345 
Research and development expense7,889 7,519 7,164 
Selling, general and administrative expense17,092 15,460 14,547 
Total$27,329 $25,212 $24,056 
Share-based compensation expense by type of award:
RSUs$19,863 $17,786 $14,573 
PRSUs3,398 3,865 6,231 
MRSUs1,705 1,558 1,304 
Employee stock purchase rights under ESPP2,363 2,003 1,948 
Total$27,329 $25,212 $24,056 
Schedule of Pension Obligations
The Company’s pension obligations as of December 31, 2023 and 2022, and the changes to the Company’s pension obligations for each of those years, were as follows:
(in thousands)20232022
Projected benefit obligation:
Balance at January 1$5,283 $6,003 
Service cost217 259 
Interest cost169 50 
Actuarial gains(25)(626)
Benefits paid(275)(107)
Foreign currency translation adjustment227 (296)
Balance at December 31$5,596 $5,283 
Presented on the Consolidated Balance Sheets as:
Current portion (included in “Accrued and other current liabilities”)$33 $242 
Long-term portion (included in “Other non-current liabilities”)$5,563 $5,041 
Schedule of Components of Net Periodic Benefit Costs
The table below presents the components of net periodic benefit costs:
Year Ended December 31,
(in thousands)202320222021
Service cost$217 $259 $272 
Interest cost169 50 20 
Net periodic benefit cost included in result of operations$386 $309 $292 
Schedule of Pension Obligations Assumptions Used
The following assumptions were used in determining the Company’s pension obligation:
As of December 31,
20232022
Discount rate3.8 %3.3 %
Mobility rate 6.2 %6.6 %
Salary progression rate 3.0 %3.0 %
Schedule of Expected Benefit Payments
As of December 31, 2023, future benefits expected to be paid in each of the next five years, and in the aggregate for the five-year period thereafter are as follows (in thousands):
Year ending December 31,
2024$33 
2025154 
2026180 
2027399 
2028797 
2029 – 20334,210 
Total$5,773 
Schedule of Valuation Assumptions for Stock Options At the date of grant, the Company estimated the fair value of each stock purchase right granted under the ESPP using the following weighted average assumptions:
 Year Ended December 31,
 202320222021
Expected term (in years)0.500.500.50
Volatility46 %47 %45 %
Risk-free interest rate5.2 %1.4 %0.1 %
Expected dividends0.0 %0.0 %0.0 %