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Series B Debentures, Net of Current Maturities (Tables)
12 Months Ended
Dec. 31, 2021
Disclosure of Series B Debentures, Net of Current Maturities [Abstract]  
Schedule of series B debentures, net of current maturities
   December 31, 
   2020   2021 
         
Series B Debentures  $118,778   $98,982 
Less: Current maturities   (19,796)   (19,796)
Less: Unamortized debt discounts and issuance costs   (306)   (200)
           
   $98,676   $78,986