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CONSOLIDATED STATEMENTS OF CASH FLOWS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash flows from operating activities:      
Net income $ 8,780 $ 28,466 $ 33,751
Adjustments required to reconcile net income to net cash provided by operating activities:      
Depreciation and amortization 2,596 2,984 2,432
Amortization of marketable securities premiums and accretion of discounts, net 1,348 1,513 1,589
Share-based compensation related to options and RSUs granted to employees and non-employees 11,380 15,122 14,164
Financial expenses (income), net (218) (892) 54
Decrease in deferred tax assets, net 1,437 1,780 3,406
Decrease (increase) in trade receivables, net 1,600 (20,567) (14,438)
Decrease (increase) in other receivables and prepaid expenses 625 (1,621) (1,221)
Decrease (increase) in inventories (7,791) (12,653) 4,504
Decrease in operating lease right-of-use assets 9,281 6,639 7,445
Decrease in operating lease liabilities (6,914) (9,509) (7,556)
Decrease in royalty buyout liability 0 0 (11,684)
Increase (decrease) in trade payables (3,782) 3,475 879
Increase (decrease) in other payables and accrued expenses (6,233) (4,077) 9,601
Increase (decrease) in deferred revenues 3,144 (2,030) 5,480
Decrease in accrued severance pay, net (362) (349) (1,062)
Net cash provided by operating activities 14,891 8,281 47,344
Cash flows from investing activities:      
Purchase of property and equipment (5,965) (1,487) (1,174)
Purchase of marketable securities 0 0 (43,808)
Purchase of financial investments (81) (16,615) 0
Proceeds from redemption of marketable securities 3,084 1,123 3,240
Proceeds from redemption of financial investments 14,094 1,052 0
Proceeds from sale of marketable securities 3,846 2,250 2,571
Investment in short-term and restricted bank deposits 0 (5,000) 0
Proceeds from short-term and restricted bank deposits 4,998 10 84,597
Proceeds from long-term and restricted bank deposits 0 94 0
Net cash paid for acquisition of subsidiary 0 (1,100) (2,804)
Net cash provided by (used in) investing activities 19,976 (19,673) 42,622
Cash flows from financing activities:      
Purchase of treasury stock (18,259) (38,099) (41,852)
Repayment of long-term bank loans 0 0 (1,200)
Cash dividends paid (11,399) (11,552) (10,865)
Proceeds from issuance of shares upon exercise of options 802 1,055 2,440
Net cash used in financing activities (28,856) (48,596) (51,477)
Increase (decrease) in cash, cash equivalents and restricted cash 6,011 (59,988) 38,489
Cash, cash equivalents and restricted cash at the beginning of the year 24,535 84,523 46,034
Cash, cash equivalents and restricted cash at the end of the year 30,546 24,535 84,523
Supplemental disclosure of cash flow activities:      
Cash paid during the year for income taxes 4,196 4,024 1,584
Cash paid during the year for interest 0 0 455
Significant non-cash transactions:      
Inventory transferred to be used as property and equipment 209 264 701
Non-cash purchase of property and equipment 2,805 0 0
Operating lease right-of-use asset recognized with corresponding lease liability $ 32,476 $ 3,699 $ (1,528)