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Guarantees (Tables)
9 Months Ended
Sep. 30, 2021
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the liability for standard warranties for the nine months ended September 30, are as follows:

 20212020
Balance as of January 1,$1,826 $2,186 
Provision for warranties1,235 616 
Claims made(683)(932)
Balance as of September 30,$2,378 $1,870