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Guarantees (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Guarantees [Abstract]    
Standard warranty period (in years) 1 year  
Movement in Standard Product Warranty Accrual [Roll Forward]    
Balance as of January 1, $ 1,826 $ 2,186
Provision for warranties 864 427
Claims made (440) (584)
Balance as of June 30, 2,250 2,029
Extended Product Warranty Disclosure [Abstract]    
Product extended warranty expense $ 3,400 $ 3,000