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Guarantees (Tables)
6 Months Ended
Jun. 30, 2021
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:

 20212020
Balance as of January 1,$1,826 $2,186 
Provision for warranties864 427 
Claims made(440)(584)
Balance as of June 30,$2,250 $2,029