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Shareholders' Equity (Summary of Allocation of Stock-Based Compensation Expenses) (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 3,577 | $ 2,862 | $ 2,711
Unrecognized compensation costs related to outstanding stock options and RSUs | $ 3,994 |  |
Unrecognized compensation costs related to outstanding stock options and RSUs, period for recognition | 1 year 2 months 12 days |  |
Tax benefit recognized in the consolidated statements of operations related to share based compensation expenses | $ 40 | 42 |
Cost of sales [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 638 | 480 | 535
Research and development costs [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 1,454 | 1,011 | 959
Selling and marketing expenses [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 774 | 697 | 602
General and administrative expenses [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 711 | $ 674 | $ 615

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