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Taxes on Income (Tables)
12 Months Ended
Dec. 31, 2018
Income Tax Disclosure [Abstract]  
Schedule of income before taxes on income
   Year ended December 31, 
   2016   2017   2018 
             
Domestic  $15,334   $19,442   $25,839 
Foreign   5,323    4,803    6,008 
                
   $20,657   $24,245   $31,847 
Schedule of taxes on income (tax benefit)
  Year ended December 31, 
   2016   2017   2018 
Current:            
Domestic  $2,919   $5,928   $5,186 
Foreign   1,863    1,511    1,359 
                
    4,782    7,439    6,545 
Deferred taxes:               
Domestic   (666)   (1,160)   81 
Foreign   (167)   52    445 
                
    (833)   (1,108)   526 
                
Taxes on income  $3,949   $6,331   $7,071 
Schedule of deferred tax assets and liabilities
   December 31, 
   2017   2018 
         
Net operating loss carryforwards  $4,355   $3,914 
Allowances, reserves and intangible assets   1,974    1,361 
           
Deferred tax assets before valuation allowance   6,329    5,275 
Less - valuation allowance   (3,339)   (3,417)
           
Deferred tax assets, net  $2,990   $1,858 
Schedule of deferred tax liabilities
   December 31, 
   2017   2018 
         
Long-term tax assets  $2,990   $1,858 
Long-term tax liabilities   (11,331)   (10,343)
           
Net deferred tax liabilities  $(8,341)  $(8,485)
Schedule of effective income tax rate reconciliation
  Year ended December 31, 
   2016   2017   2018 
             
Income before taxes, as reported in the consolidated statements of income  $20,657   $24,245   $31,847 
                
Statutory tax rate   25%   24%   23%
                
Theoretical tax expenses on the above amount at the Israeli statutory tax rate  $5,164   $5,819   $7,325 
Tax adjustment in respect of different tax rates   (1,214)   268    (826)
Deferred taxes on losses for which full valuation allowance was provided in the past   (455)   658    (11)
Tax-deductible costs, not included in the accounting costs   (342)   (38)   - 
Tax benefits in respect of prior years, net   1,262    (488)   (22)
Nondeductible expenses   (232)   70    45 
Uncertain tax position and other differences   (234)   42    560 
                
Income tax  $3,949   $6,331   $7,071 
Schedule of unrecognized tax benefits
Gross unrecognized tax benefits at January 1, 2016  $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 
      
Increase in tax positions taken in prior years   1,050 
      
Decrease in tax positions taken in prior years   - 
      
Gross unrecognized tax benefits at December 31, 2018  $2,175