Use Update-SPSolution in a Sharepoint Management Shell to upgrade to a newer version:

Update-SPSolution -Identity pingidentity.sharepoint.ppclaimsprovider.wsp 
     -LiteralPath “C:\path_to_solution\PingIdentity.SharePoint.PPClaimsProvider.wsp” 
     –GacDeployment
Note: The remaining steps of the Installation and Setup section are not required when upgrading.