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Taxes on Income (Tables)
 12 Months Ended
Dec. 31, 2021
Taxes on Income [Abstract]  
Schedule of income before taxes on income
   Year ended
December 31,		 
   2021   2020   2019 
Domestic  $32,714   $25,423   $17,806 
Foreign   12,550    11,980    14,666 
                
   $42,264   $37,403   $32,472 

 
Schedule of taxes on income (tax benefit)
   Year ended
December 31,		 
   2021   2020   2019 
Current:            
Domestic  $7,847   $7,867   $7,266 
Foreign   6,123    1,069    1,636 
                
    13,970    8,936    8,902 
Deferred taxes:               
Domestic   (1,124)   (1,687)   (1,001)
Foreign   (2,487)   37    (1,027)
                
    (3,611)   (1,650)   (2,028)
                
Taxes on income  $10,359   $7,286   $6,874 

 
Schedule of deferred tax liabilities
   December 31, 
   2021   2020 
Net operating loss carryforwards  $5,481   $5,557 
Allowances, reserves and intangible assets   7,779    6,228 
           
Deferred tax assets before valuation allowance   13,260    11,785 
Less - valuation allowance   (5,169)   (5,388)
           
Deferred tax assets, net  $8,091   $6,397 

 

   December 31, 
   2021   2020 
Deferred tax assets  $8,091   $6,397 
Deferred tax liabilities   (18,112)   (17,639)
           
Net deferred tax liabilities  $(10,021)  $(11,242)

  
Schedule of theoretical tax expense and actual tax expense
   Year ended
December 31,		 
   2021   2020   2019 
Income before taxes, as reported in the consolidated statements of income  $45,264   $37,403   $32,472 
                
Statutory tax rate   23%   23%   23%
                
Theoretical tax expenses on the above amount at the Israeli statutory tax rate  $10,411   $8,603   $7,468 
Tax adjustment in respect of different tax rates   283    (1,169)   465 
Deferred taxes on losses for which full valuation allowance was provided in the past   (80)   (326)   (227)
Tax-deductible costs, not included in the accounting costs   (1,041)   (679)   
-
 
Tax expenses in respect of prior years, net   (481)   (71)   (37)
Non-deductible expenses   1,482    1,398    
-
 
Uncertain tax position and other differences   (215)   (470)   (795)
                
Income tax  $10,359   $7,286   $6,874 

 
Schedule of unrecognized tax benefits
Gross unrecognized tax benefits at January 1, 2019  $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 
      
Increase in tax positions taken in prior years   
-
 
      
Decrease in tax positions taken in prior years   (1,103)
      
Gross unrecognized tax benefits at December 31, 2020   1,072 
      
Increase in tax positions taken in prior years   162 
      
Decrease in tax positions taken in prior years   
-
 
      
Gross unrecognized tax benefits at December 31, 2021  $1,234