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Shareholders' Equity (Tables)
12 Months Ended
Dec. 31, 2019
Stockholders' Equity Note [Abstract]  
Share-based Payment Arrangement, Option, Activity [Table Text Block]
  

Number

of shares
upon
exercise

   Weighted
average
exercise
price
  

Weighted-
average
remaining
contractual
term

(in years)

  

Aggregate
intrinsic

value

 
                 
Outstanding at beginning of year   1,583,564   $14.71    8.19   $6,536 
Granted   135,701    27.55    9.45      
Exercised   (472,980)   12.48           
Forfeited   (173,508)   16.40           
                     
Outstanding at end of year   1,072,777   $17.17    7.73   $18,170 
                     
Exercisable at end of year   455,735   $14.03    6.88   $9,152 

 

Share-based Payment Arrangement, Option, Exercise Price Range [Table Text Block]
  

Options outstanding

at December 31, 2019

  

Options exercisable

at December 31, 2019

 
Exercise price  Number
outstanding
   Weighted
average
exercise price
   Weighted
average
remaining
contractual
term (in years)
   Number
outstanding
   Weighted
average
exercise price
   Weighted
average
remaining
contractual
term (in years)
 
$      $   In years       $   In years 
                         
2.07   37,490    2.07    4.87    37,490    2.07    4.87 
9.38-9.97   62,751    9.97    4.83    62,751    9.97    4.83 
10.05-11.90   141,548    10.31    6.59    71,389    10.16    6.56 
12.97-15.80   129,542    15.26    7.01    88,210    15.01    6.61 
16.15-18.05   199,547    17.97    7.64    79,613    17.97    15.37 
18.80-19.05   345,611    18.81    8.57    109,822    18.82    8.53 
21.15-28.15   156,288    26.86    9.45    6,460    22.16    8.59 
                               
    1,072,777              455,735           

 

Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
  

Number

of RSUs

 
     
Unvested at beginning of year   414,420 
Granted   489,645 
Vested   (155,160)
Forfeited   (70,602)
Unvested at the end of the year   678,303 

 

Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Year ended December 31,

 
   2019   2018   2017 
             
Cost of products  $632   $494   $419 
Cost of services   520    398    210 
Research and development   1,294    1,022    775 
Sales and marketing   1,689    1,240    920 
General and administrative   2,479    2,392    2,087 
                
Total share-based compensation expense  $6,614   $5,546   $4,411