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Guarantees (Tables)
 12 Months Ended
Dec. 31, 2015
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of service and product warranties for the year ended December 31, are as follows:

 
2015
 
2014
 
2013
 
 
 
 
 
 
Balance as of January 1,
$
2,286

 
$
2,422

 
$
3,636

 
 
 
 
 
 
Provision for warranties
3,836

 
3,492

 
3,061

Claims made
(3,613
)
 
(3,628
)
 
(4,275
)
 
 
 
 
 
 
Balance as of December 31,
$
2,509

 
$
2,286

 
$
2,422