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Equity (Details Textual) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | --- | ---
Aug. 13, 2019 | Mar. 04, 2019 | Aug. 08, 2018 | Aug. 13, 2017 | Aug. 09, 2017 | Feb. 28, 2018 | Feb. 22, 2017 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2015 | Dec. 31, 2012
Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |
Intrinsic value of options exercised |  |  |  |  |  |  |  | $ 537 | $ 617 | $ 502 |  |
Unrecognized compensation cost related to non-vested share-based compensation |  |  |  |  |  |  |  |  |  |  |  |
Accumulated cash dividend distributions of per share |  | $ 0.15 | $ 0.155 |  |  |  |  |  |  |  |  |
Aggregate dividend value |  | $ 7,335 | $ 7,563 |  |  |  |  |  |  |  |  |
Dividend paid date |  | Mar. 25, 2019 | Sep. 05, 2018 |  |  |  |  |  |  |  |  |
Dividend distribution maximum percentage |  |  |  |  | 75.00% |  |  |  |  |  |  |
2007 Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |
Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |
Reserved ordinary shares for issuance |  |  |  |  |  |  |  | 1,500,000 |  |  |  |
Additional ordinary shares |  |  |  |  |  |  |  |  |  |  | 250,000 | 1,000,000
Aggregate of ordinary shares for future grants |  |  |  |  |  |  |  | 962,500 |  |  |  |
Expiration period |  |  |  |  |  |  |  |  |  |  | 10 years |
Expire date |  |  |  |  |  |  |  |  |  |  | Aug. 01, 2027 |
Exercisable period |  |  |  |  |  |  |  |  |  | 10 years |  |
2007 Plan [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |  |
Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |
Options vest years |  |  |  |  |  |  |  | 3 years |  |  |  |
2007 Plan [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |
Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |
Options vest years |  |  |  |  |  |  |  | 4 years |  |  |  |
Board of Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |
Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |
Accumulated cash dividend distributions of per share | $ 0.156 |  |  | $ 0.13 |  | $ 0.13 | $ 0.085 |  |  |  |  |
Aggregate dividend value | $ 7,628 |  |  | $ 5,779 |  | $ 5,785 | $ 3,775 |  |  |  |  |
Dividend paid date | Sep. 12, 2019 |  |  | Sep. 13, 2017 |  | Mar. 26, 2018 | Apr. 05, 2017 |  |  |  |  |

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