Sifrei Mitzvot do Wyjścia 21:37

Whenever a person steals property that is worth a p'rutah or more, he transgresses a negative commandment, as Exodus 20:13 states: "Do not steal." Lashes are not administered for the violation of this commandment, for one is obligated to give compensation. For the Torah requires a thief to compensate the party from whom he stole, whether he be a Jew or a gentile, an adult or a minor.

The Torah prohibits stealing even the slightest amount.It is forbidden to steal as a jest, to steal with the intent to return, or to steal with the intent to pay. All is forbidden, lest one habituate oneself to such conduct.

Who is a thief? A person who takes assets belonging to a colleague in stealth, without the owner's knowing - e.g., a pickpocket who is not detected by the owner or the like. If, however, a person takes a colleague's assets in open view and with public knowledge by force, he is not considered a thief, but rather a robber. For this reason, an armed bandit who steals is not considered a robber, but a thief. This applies even when the owner takes notice when he steals.