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Revenue Recognition Product Warranty Liability (Tables) | 6 Months Ended
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Jun. 30, 2020
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, 2020 | $ | 27,067 |
Additional warranty revenue deferred | 20,845 |
Warranty revenue recognized | (22,473) |
Balance as of June 30, 2020 | $ | 25,439 |

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