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Guarantees (Tables)
6 Months Ended
Jun. 30, 2020
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the liability for standard warranties for the six months ended June 30, are as follows:

 20202019
Balance as of January 1,$2,186  $1,585  
Provision for warranties427  1,020  
Claims made(584) (483) 
Balance as of June 30,$2,029  $2,122