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Taxes on Income, Reconciliation of Liability for Unrecognized Tax Benefits (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Reconciliation of the beginning and ending amount of the liability for unrecognized tax benefits [Roll Forward]
Balance at beginning of year	$ 1,443,000	$ 1,787,000	$ 2,019,000
Additions based on tax positions related to the current year	51,000	254,000	403,000
Additions for tax positions of prior years	58,000	70,000	273,000
Reductions for tax positions of prior years	(669,000)	(668,000)	(908,000)
Balance at end of year	883,000	1,443,000	1,787,000
Income tax penalties and interest recognized	(71,000)	(209,000)	120,000
Accrued liabilities for payment of interest and penalties	$ 289,000	$ 466,000	$ 675,000

X

- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 45
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Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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Amount accrued for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return.

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Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return.

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Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

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