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COMMITMENTS AND CONTINGENCIES (Tables)
 12 Months Ended
Dec. 31, 2019
Commitments and Contingencies Disclosure [Abstract]  
Future minimum lease commitments under non-cancelable leases The future minimum lease commitments under non-cancelable leases at December 31, 2019 were as follows (in thousands):
Year Ending December 31,
 
2020
$
9,804

2021
$
6,604

2022
$
5,712

2023
$
4,756

2024
$
4,638

Thereafter
$
15,388

Total
$
46,902
Product warranty accrual activity The following table sets forth the activity in the product warranty accrual account for the years ended December 31, 2019, 2018, and 2017 (in thousands):
Accrual balance at January 1, 2017
$
2,518

Accruals for product warranties
2,572

Cost of warranty claims
(2,545
)
Accrual balance at December 31, 2017
2,545

Accruals for product warranties
858

Cost of warranty claims
(1,697
)
Accrual balance at December 31, 2018
1,706

Accruals for product warranties
973

Cost of warranty claims
(1,342
)
Accrual balance at December 31, 2019
$
1,337