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Accrued Expenses | 12 Months Ended
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Dec. 31, 2021
Payables and Accruals [Abstract] |
Accrued Expenses | Accrued Expenses Accrued expenses consisted of the following (in thousands):
| December 31,
| 2021 |  | 2020
Incentive compensation | $ | 37,917 |  |  | $ | 28,935 |
Salaries and payroll taxes | 8,519 |  |  | 7,911 |
Foreign retirement obligations | 7,572 |  |  | 6,886 |
Warranty obligations | 5,427 |  |  | 5,406 |
Vacation | 4,686 |  |  | 3,641 |
Other | 28,311 |  |  | 24,485 |
| $ | 92,432 |  |  | $ | 77,264 |
The changes in the warranty obligation were as follows (in thousands):
Balance as of December 31, 2019 | $ | 4,713 |
Provisions for warranties issued during the period | 3,463 |
Fulfillment of warranty obligations | (2,770) |
Balance as of December 31, 2020 | 5,406 |
Provisions for warranties issued during the period | 3,256 |
Fulfillment of warranty obligations | (3,235) |
Balance as of December 31, 2021 | $ | 5,427 |

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- Definition The entire disclosure for accounts payable and accrued liabilities at the end of the reporting period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.19(a),20,24) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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