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Taxes on Income, Reconciliation of Liability for Unrecognized Tax Benefits (Details) - USD ($)
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Reconciliation of the beginning and ending amount of the liability for unrecognized tax benefits [Roll Forward]      
Balance at beginning of year $ 1,958,000 $ 1,171,000 $ 949,000
Additions based on tax positions related to the current year 187,000 339,000 470,000
Additions for tax positions of prior years 867,000 785,000 39,000
Reductions for tax positions of prior years (441,000) (337,000) (287,000)
Settlements (552,000) 0 0
Balance at end of year 2,019,000 1,958,000 1,171,000
Income tax penalties and interest recognized 88,000 216,000 40,000
Accrued liabilities for payment of interest and penalties $ 554,000 $ 522,000 $ 306,000