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Selected Statements of Operations Data (Tables)
12 Months Ended
Dec. 31, 2021
Condensed Financial Statement [Abstract]  
Schedule of financial income, net
  

Year ended December 31,

 
   2021   2020   2019 
Financial income:            
             
Interest on bank deposits and other  $2,129   $2,238   $2,535 
Realized gain on sale of marketable securities, net   32    503    271 
Interest on marketable securities   3,243    2,870    1,975 
Amortization of premium and accretion of discount
on marketable securities, net
   
-
    
-
    112 
                
    5,404    5,611    4,893 
Financial expenses:               
                
Bank charges   (286)   (357)   (405)
Exchange rate differences, net   (1,240)   (1,361)   (1,175)
Amortization of premium and accretion of discount
on marketable securities, net
   (1,279)   (395)   
-
 
                
    (2,805)   (2,113)   (1,580)
                
Total financial income, net:  $2,599   $3,498   $3,313