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CONSOLIDATED STATEMENTS OF CASH FLOWS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Cash flows from operating activities:      
Net income $ 3,977 $ 13,493 $ 4,030
Adjustments required to reconcile net income to net cash provided by operating activities:      
Depreciation and amortization 2,044 2,309 2,438
Amortization of marketable securities premiums and accretion of discounts, net 79 353 570
Share-based compensation related to options and RSUs granted to employees and non-employees 5,292 3,287 2,307
Decrease (increase) in accrued interest and exchange rate effect on loans, marketable securities and bank deposits 140 (32) 403
Decrease (increase) in deferred tax assets, net (16,282) 2,251 4,922
Decrease (increase) in trade receivables, net (5,222) (220) 3,389
Decrease (increase) in other receivables and prepaid expenses 259 (1,012) (1,316)
Increase in inventories (5,925) (6,309) (230)
Decrease in operating lease right-of-use assets 7,444 0 0
Decrease in operating lease liabilities (5,456) 0 0
Increase in royalty buyout liability 21,499 0 0
Increase (decrease) in trade payables 440 549 (2,071)
Increase in other payables and accrued expenses 2,805 1,437 1,714
Increase in deferred revenues 12,342 9,354 1,640
Increase (decrease) in accrued severance pay, net (267) 120 (31)
Net cash provided by operating activities 23,169 25,580 17,765
Cash flows from investing activities:      
Purchase of property and equipment (1,949) (1,340) (1,574)
Purchase of marketable securities (10,025) 0 0
Proceeds from redemption of marketable securities 29,412 7,577 8,116
Investment in short-term and restricted bank deposits 0 (9,636) 0
Proceeds from short-term and restricted bank deposits 10,962 0 662
Proceeds from long-term and restricted bank deposits 1,200 2,307 1,200
Net cash provided by (used in) investing activities 29,600 (1,092) 8,404
Cash flows from financing activities:      
Purchase of treasury stock (8,002) (14,321) (25,563)
Repayment of long-term bank loans (2,470) (2,508) (3,504)
Payment related to the acquisition of ACS (410) (151) 0
Cash dividends paid (6,720) (5,761) 0
Proceeds from issuance of shares upon exercise of options and warrants 3,103 5,521 2,789
Net cash used in financing activities (14,499) (17,220) (26,278)
Increase (decrease) in cash, cash equivalents and restricted cash 38,270 7,268 (109)
Cash, cash equivalents and restricted cash at the beginning of the year 31,503 24,235 24,344
Cash, cash equivalents and restricted cash at the end of the year 69,773 31,503 24,235
Supplemental disclosure of cash flow activities:      
Cash paid during the year for income taxes 1,105 933 741
Cash paid during the year for interest 205 267 297
Significant non-cash transactions:      
Inventory transferred to be used as property and equipment 270 252 0
Right-of-use asset recognized with corresponding lease liability $ 4,010 $ 0 $ 0