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Taxes on Income (Tables) | 12 Months Ended
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Dec. 31, 2017
Taxes on Income [Abstract] |
Schedule of income before income tax |
|  |  | Year ended December 31, |
|  |  | 2015 |  |  | 2016 |  |  | 2017 |
| Domestic |  | $ | 18,350 |  |  | $ | 15,334 |  |  | $ | 19,442 |
| Foreign |  |  | 2,407 |  |  |  | 5,323 |  |  |  | 4,803 |
|  |  | $ | 20,757 |  |  | $ | 20,657 |  |  | $ | 24,245 |
Schedule of taxes on income (tax benefit) |
|  |  | Year ended December 31, |
|  |  | 2015 |  |  | 2016 |  |  | 2017 |
| Current: |  |  |  |  |  |  |  |  |
| Domestic |  | $ | 3,466 |  |  | $ | 2,919 |  |  | $ | 5,928 |
| Foreign |  |  | 880 |  |  |  | 1,863 |  |  |  | 1,511 |
|  |  |  | 4,346 |  |  |  | 4,782 |  |  |  | 7,439 |
| Deferred taxes: |  |  |  |  |  |  |  |  |  |  |  |
| Domestic |  |  | (500 | ) |  |  | (666 | ) |  |  | (1,160 | )
| Foreign |  |  | (165 | ) |  |  | (167 | ) |  |  | 52 |
|  |  |  | (665 | ) |  |  | (833 | ) |  |  | (1,108 | )
| Taxes on income |  | $ | 3,681 |  |  | $ | 3,949 |  |  | $ | 6,331 |
Schedule of deferred tax assets and liabilities |
|  |  | December 31, |
|  |  | 2016 |  |  | 2017 |
| Net operating loss carryforwards |  | $ | 3,838 |  |  | $ | 4,355 |
| Allowances, reserves and intangible assets |  |  | 1,943 |  |  |  | 1,974 |
| Deferred tax assets before valuation allowance |  |  | 5,781 |  |  |  | 6,329 |
| Less - valuation allowance |  |  | (2,233 | ) |  |  | (3,339 | )
| Deferred tax assets, net |  | $ | 3,548 |  |  | $ | 2,990 |
Schedule of deferred tax liabilities |
|  |  | December 31, |
|  |  | 2016 |  |  | 2017 |
| Long-term tax assets |  | $ | 3,548 |  |  | $ | 2,990 |
| Long-term tax liabilities |  |  | (12,494 | ) |  |  | (11,331 | )
| Net deferred tax liabilities |  | $ | (8,946 | ) |  | $ | (8,341 | )
Schedule of effective income tax rate reconciliation |
|  |  | Year ended December 31, |
|  |  | 2015 |  |  | 2016 |  |  | 2017 |
| Income before taxes, as reported in the consolidated statements of income |  | $ | 20,757 |  |  | $ | 20,657 |  |  | $ | 24,245 |
| Statutory tax rate |  |  | 26.5 | % |  |  | 25 | % |  |  | 24 | %
| Theoretical tax expenses on the above amount at the Israeli statutory tax rate |  | $ | 5,501 |  |  | $ | 5,164 |  |  | $ | 5,819 |
| Tax adjustment in respect of different tax rates |  |  | (923 | ) |  |  | (1,214 | ) |  |  | 268 |
| Deferred taxes on losses for which full valuation allowance was provided in the past |  |  | 131 |  |  |  | (455 | ) |  |  | 658 |
| Tax-deductible costs, not included in the accounting costs |  |  | (733 | ) |  |  | (342 | ) |  |  | (38 | )
| Tax benefits in respect of prior years, net |  |  | (133 | ) |  |  | 1,262 |  |  |  | (488 | )
| Nondeductible expenses |  |  | 177 |  |  |  | (232 | ) |  |  | 70 |
| Uncertain tax position and other differences |  |  | (339 | ) |  |  | (234 | ) |  |  | 42 |
| Income tax |  | $ | 3,681 |  |  | $ | 3,949 |  |  | $ | 6,331 |
Schedule of unrecognized tax benefits |
| Gross unrecognized tax benefits at January 1, 2015 |  | $ | 342 |
| Increase in tax positions taken in prior years |  |  | 469 |
| Decrease in tax positions taken in prior years |  |  | (145 | )
| Gross unrecognized tax benefits at December 31, 2015 |  |  | 666 |
| Increase in tax positions taken in prior years |  |  | 159 |
| Decrease in tax positions taken in prior years |  |  | - |
| Gross unrecognized tax benefits at December 31, 2016 |  |  | 825 |
| Increase in tax positions taken in prior years |  |  | 300 |
| Decrease in tax positions taken in prior years |  |  | - |
| Gross unrecognized tax benefits at December 31, 2017 |  | $ | 1,125 |

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