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Shareholders' Equity (Tables)
12 Months Ended
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