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Taxes on Income (Details) - Schedule of theoretical tax expense and actual tax expense - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Schedule of theoretical tax expense and actual tax expense [Abstract]        
Income before taxes, as reported in the consolidated statements of income   $ 45,264 $ 37,403 $ 32,472
Statutory tax rate 25.00% 23.00% 23.00% 23.00%
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