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Guarantees (Tables)
6 Months Ended
Jun. 30, 2017
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of service and product warranties for the six months ended June 30, are as follows:

 
2017
 
2016
Balance as of January 1,
$
1,954

 
$
2,509

 
 
 


Provision for warranties
1,633

 
1,692

 
 
 


Claims made
(1,712
)
 
(1,770
)
 
 
 


Balance as of June 30,
$
1,875

 
$
2,431