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Shareholders' Equity (Summary of Allocation of Stock-Based Compensation Expenses) (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 3,353 | $ 3,577 | $ 2,862
Unrecognized compensation costs related to outstanding stock options and RSUs | $ 4,234 |  |
Unrecognized compensation costs related to outstanding stock options and RSUs, period for recognition | 1 year 5 months 1 day |  |
Tax benefit recognized in the consolidated statements of operations related to share based compensation expenses | $ 81 | 40 |
Cost of sales [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 428 | 638 | 480
Research and development costs [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 1,423 | 1,454 | 1,011
Selling and marketing expenses [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | 747 | 774 | 697
General and administrative expenses [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 755 | $ 711 | $ 674

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