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Taxes on Income (Tables) | 12 Months Ended
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Dec. 31, 2019
Income Tax Disclosure [Abstract] |
Schedule of income before taxes on income |
|  | Year ended December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Domestic |  | $ | 17,806 |  |  | $ | 25,839 |  |  | $ | 19,442 |
Foreign |  |  | 14,666 |  |  |  | 6,008 |  |  |  | 4,803 |
|  | $ | 32,472 |  |  | $ | 31,847 |  |  | $ | 24,245 |
Schedule of taxes on income (tax benefit) |
|  | Year ended December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Current: |  |  |  |  |  |  |  |  |
Domestic |  | $ | 7,266 |  |  | $ | 5,186 |  |  | $ | 5,928 |
Foreign |  |  | 1,636 |  |  |  | 1,359 |  |  |  | 1,511 |
|  |  | 8,902 |  |  |  | 6,545 |  |  |  | 7,439 |
Deferred taxes: |  |  |  |  |  |  |  |  |  |  |  |
Domestic |  |  | (1,001 | ) |  |  | 81 |  |  |  | (1,160 | )
Foreign |  |  | (1,027 | ) |  |  | 445 |  |  |  | 52 |
|  |  | (2,028 | ) |  |  | 526 |  |  |  | (1,108 | )
Taxes on income |  | $ | 6,874 |  |  | $ | 7,071 |  |  | $ | 6,331 |
Schedule of deferred tax assets and liabilities |
|  | December 31, |
|  | 2019 |  |  | 2018 |
Net operating loss carryforwards |  | $ | 4,529 |  |  | $ | 3,914 |
Allowances, reserves and intangible assets |  |  | 1,584 |  |  |  | 1,361 |
Deferred tax assets before valuation allowance |  |  | 6,113 |  |  |  | 5,275 |
Less - valuation allowance |  |  | (3,925 | ) |  |  | (3,417 | )
Deferred tax assets, net |  | $ | 2,188 |  |  | $ | 1,858 |
Schedule of deferred tax liabilities |
|  | December 31, |
|  | 2019 |  |  | 2018 |
Long-term tax assets |  | $ | 2,188 |  |  | $ | 1,858 |
Long-term tax liabilities |  |  | (11,069 | ) |  |  | (10,343 | )
Net deferred tax liabilities |  | $ | (8,881 | ) |  | $ | (8,485 | )
Schedule of effective income tax rate reconciliation |
|  | Year ended December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Income before taxes, as reported in the consolidated statements of income |  | $ | 32,472 |  |  | $ | 31,847 |  |  | $ | 24,245 |
Statutory tax rate |  |  | 23 | % |  |  | 23 | % |  |  | 24 | %
Theoretical tax expenses on the above amount at the Israeli statutory tax rate |  | $ | 7,468 |  |  | $ | 7,325 |  |  | $ | 5,819 |
Tax adjustment in respect of different tax rates |  |  | 465 |  |  |  | (826 | ) |  |  | 268 |
Deferred taxes on losses for which full valuation allowance was provided in the past |  |  | (227 | ) |  |  | (11 | ) |  |  | 658 |
Tax-deductible costs, not included in the accounting costs |  |  | - |  |  |  | - |  |  |  | (38 | )
Tax expenses in respect of prior years, net |  |  | (37 | ) |  |  | (22 | ) |  |  | (488 | )
Non-deductible expenses |  |  |  |  |  |  | 45 |  |  |  | 70 |
Uncertain tax position and other differences |  |  | (795 | ) |  |  | 560 |  |  |  | 42 |
Income tax |  | $ | 6,874 |  |  | $ | 7,071 |  |  | $ | 6,331 |
Schedule of unrecognized tax benefits |
Gross unrecognized tax benefits at January 1, 2017 |  | $ | 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 |
Increase in tax positions taken in prior years |  |  | - |
Decrease in tax positions taken in prior years |  |  | - |
Gross unrecognized tax benefits at December 31, 2019 |  | $ | 2,175 |

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