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Revenue Recognition Product Warranty Liability (Tables)
 3 Months Ended
Mar. 31, 2019
Product Warranties Disclosures [Abstract]  
Schedule of Product Warranty Liability [Table Text Block]
The changes in deferred service-type warranty revenue are as follows (in thousands):
Balance as of January 1, 2019
$
24,006

Additional warranty revenue deferred
10,875

Warranty revenue recognized
(9,370
)
Balance as of March 31, 2019
$
25,511