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Revenue Recognition Product Warranty Liability (Tables)
 12 Months Ended
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