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Product Warranties (Tables)
12 Months Ended
Dec. 31, 2020
Guarantees and Product Warranties [Abstract]  
Product Warranty Activity
Product warranty activity for the years ended December 31 was as follows (in thousands):
 
    
2020
    
2019
    
2018
 
Balance at the beginning of the period
   $ 372      $ 268      $ 290  
Accruals for warranties for products sold in the period
     366        250        173  
Fulfillment of warranty obligations
     (398      (140      (117
Revisions of estimated obligations
     (32      (6      (78
    
 
 
    
 
 
    
 
 
 
Balance at the end of the period
   $ 308      $ 372      $ 268