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Guarantees (Tables)
9 Months Ended
Sep. 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 nine months ended September 30, are as follows:

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

 
$
2,509

 
 
 


Provision for warranties
2,533

 
2,380

 
 
 


Claims made
(2,653
)
 
(2,653
)
 
 
 


Balance as of September 30,
$
1,834

 
$
2,236