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Revenue Recognition Product Warranty Liability (Tables) | 12 Months Ended
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Dec. 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, 2018 | $ | 19,465 |
Additional warranty revenue deferred | 38,736 |
Warranty revenue recognized | (34,195 | )
Balance as of December 31, 2018 | 24,006 |
Additional warranty revenue deferred | 43,381 |
Warranty revenue recognized | (40,320 | )
Balance as of December 31, 2019 | $ | 27,067 |

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