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Shareholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Stockholders' Equity Note [Abstract] |
Schedule of assumptions used in estimation of grant date fair value of options |
Average Risk-free interest rate (a) |  |  | 2.55 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 44.62 | %
Termination rate |  |  | 9 | %
Suboptimal factor (c) |  |  | 3.18 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Average Risk-free interest rate (a) |  |  | 0.75 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 45.29 | %
Termination rate |  |  | 9 | %
Suboptimal factor (c) |  |  | 3.16 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Average Risk-free interest rate (a) |  |  | 1.41 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 45.28 | %
Termination rate |  |  | 9 | %
Suboptimal factor (c) |  |  | 3.14 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Average Risk-free interest rate (a) |  |  | 1.79 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 44.38 | %
Termination rate |  |  | 9 | %
Suboptimal factor (c) |  |  | 3.16 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Average Risk-free interest rate (a) |  |  | 3.01 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 43.93 | %
Termination rate |  |  | 9 | %
Suboptimal factor (c) |  |  | 3.14 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Average Risk-free interest rate (a) |  |  | 2.91 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 44.02 | %
Termination rate |  |  | 9 | %
Suboptimal factor (c) |  |  | 3.14 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Average Risk-free interest rate (a) |  |  | 3.91 | %
Expected dividend yield |  |  | 0.0 | %
Average expected volatility (b) |  |  | 41.78 | %
Termination rate |  |  | 7 | %
Suboptimal factor (c) |  |  | 2.76 |
| (a) | Risk-free interest rate represents risk free US$ zero-coupon US Government Bonds at time of grant.
| (b) | Expected average volatility represents a weighted average standard deviation rate for the price of the Company’s ordinary shares on the NASDAQ National Market.
| (c) | Suboptimal factor represents the multiple of the increase in the market share price on the day of grant of the option which, should it come to pass, will lead to exercise of the option by the employee. It is the average suboptimal factor of the Company and similar companies.
Schedule of stock option summary |
|  | Options outstanding |  |  | Options exercisable |
|  |  |  |  | Weighted average |  |  |  |  |  | Weighted average |
|  |  |  |  | remaining |  |  |  |  |  | remaining |
Exercise price |  | Number |  |  | contractual life |  |  | Number |  |  | contractual life |
US$ |  | of options |  |  | (in years) |  |  | of options |  |  | (in years) |
33.27 |  |  | 10,148 |  |  |  | 2.3 |  |  |  | 10,148 |  |  |  | 2.3 |
Schedule of stock option activity |
|  |  |  |  | Weighted |  |  | Weighted |
|  | Number |  |  | average exercise |  |  | average grant date |
|  | of options |  |  | price |  |  | fair value |
|  |  |  |  | US$ |  |  | US$ |
Balance at January 1, 2021 |  |  | 590,047 |  |  |  |  |  |  |
Granted |  |  | 133,925 |  |  |  | 41.84 |  |  |  | 16.62 |
Exercised |  |  | (132,702 | ) |  |  | 34.01 |  |  |  | 12.85 |
Forfeited |  |  | (11,749 | ) |  |  | 35.79 |  |  |  | 15.39 |
Balance at December 31, 2021 |  |  | 579,521 |  |  |  |  |  |  |  |  |
Granted |  |  | 198,174 |  |  |  | 40.82 |  |  |  | 15.13 |
Exercised |  |  | (66,298 | ) |  |  | 33.09 |  |  |  | 13.21 |
Forfeited |  |  | (50,335 | ) |  |  | 41.67 |  |  |  | 15.75 |
Balance at December 31, 2022 |  |  | 661,062 |  |  |  |  |  |  |  |  |
Granted |  |  | 137,911 |  |  |  | 35.12 |  |  |  | 15.84 |
Exercised |  |  | (45,474 | ) |  |  | 29.91 |  |  |  | 12.33 |
Forfeited |  |  | (14,256 | ) |  |  | 40.40 |  |  |  | 15.90 |
Expired |  |  | (729,095 | ) |  |  | 37.80 |  |  |  | 15.05 |
Balance at December 31, 2023 |  |  | 10,148 |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2023 |  |  | 10,148 |  |  |  |  |  |  |  |  |
Schedule of restricted share units activity |
|  |  |  |  | Weighted |
|  | Number of |  |  | average |
|  | Restricted |  |  | grant date |
|  | Share Units |  |  | fair value |
|  |  |  |  | US$ |
Balance at January 1, 2021 |  |  | 86,000 |  |  |  |
Granted |  |  | - |  |  |  |
Vested |  |  | - |  |  |  |
Balance at December 31, 2021 |  |  | 86,000 |  |  |  |
Granted |  |  | 16,000 |  |  |  | 43.02 |
Forfeited |  |  | (2,000 | ) |  |  | 35.33 |
Vested |  |  | (43,000 | ) |  |  | 35.33 |
Balance at December 31, 2022 |  |  | 57,000 |  |  |  |  |
Granted |  |  | 86,000 |  |  |  | 36.24 |
Forfeited |  |  | (8,000 | ) |  |  | 36.24 |
Vested |  |  | (41,000 | ) |  |  | 35.33 |
Balance at December 31, 2023 |  |  | 94,000 |  |  |  |  |
Schedule of allocation of the stock-based compensation expenses |
|  | Year ended December 31 |
|  | 2021 |  |  | 2022 |  |  | 2023 |
|  | US$ thousands |
Cost of sales |  |  | 480 |  |  |  | 638 |  |  |  | 428 |
Research and development costs |  |  | 1,011 |  |  |  | 1,454 |  |  |  | 1,423 |
Selling and marketing expenses |  |  | 697 |  |  |  | 774 |  |  |  | 747 |
General and administrative expenses |  |  | 674 |  |  |  | 711 |  |  |  | 755 |
|  |  | 2,862 |  |  |  | 3,577 |  |  |  | 3,353 |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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