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COMMITMENTS AND CONTINGENCIES (Tables)
 12 Months Ended
Dec. 31, 2020
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, 2020 were as follows (in thousands):
Year Ending December 31,Operating Leases
2021$8,558 
2022$7,259 
2023$6,195 
2024$5,383 
2025$5,513 
Thereafter$11,776 
Total$44,684 
Product warranty accrual activity The following table sets forth the activity in the product warranty accrual account for the years ended December 31, 2020, 2019, and 2018 (in thousands):
Accrual balance at January 1, 2018
$2,545 
Accruals for product warranties858 
Cost of warranty claims (1,697)
Accrual balance at December 31, 2018
1,706 
Accruals for product warranties973 
Cost of warranty claims (1,342)
Accrual balance at December 31, 2019
1,337 
Accruals for product warranties1,065 
Cost of warranty claims(1,307)
Accrual balance at December 31, 2020
$1,095