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Taxes on Income, Reconciliation of Liability for Unrecognized Tax Benefits (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of the beginning and ending amount of the liability for unrecognized tax benefits [Roll Forward]      
Balance at beginning of year $ 783,000 $ 883,000 $ 1,443,000
Additions based on tax positions related to the current year 13,000 262,000 51,000
Additions for tax positions of prior years 281,000 114,000 58,000
Reductions for tax positions of prior years (340,000) (266,000) (669,000)
Settlements 0 (210,000) 0
Balance at end of year 737,000 783,000 883,000
Income tax penalties and interest recognized (34,000) (90,000) $ (71,000)
Accrued liabilities for payment of interest and penalties $ 138,000 $ 172,000