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Commitments and Contingencies - Warranty (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Warranty
Balance, beginning of the year	$ 7,067	$ 7,852	$ 6,532
Warranties issued	4,626	5,865	6,737
Consumption of reserves	(6,691)	(6,242)	(6,573)
Changes in estimate	56	(408)	1,156
Balance, end of the year	$ 5,058	$ 7,067	$ 7,852

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Carrying value as of the balance sheet date of obligations incurred through that date and payable for estimated claims under standard and extended warranty protection rights granted to customers.

+ References

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 942
-SubTopic 210
-Section S99
-Paragraph 1
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Amount of decrease in the standard and extended product warranty accrual from payments made in cash or in kind to satisfy claims under the terms of the standard and extended product warranty.

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Amount of increase (decrease) in the standard and extended product warranty accrual from changes in estimates attributable to preexisting product warranties.

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Amount of increase in the standard and extended product warranty accrual from warranties issued.

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