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Guarantees (Tables)
12 Months Ended
Dec. 31, 2021
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of standard warranties for the year ended December 31, are as follows:

 202120202019
Balance as of January 1,$1,826 $2,186 $1,585 
Provision for warranties1,458 783 1,699 
Claims made(940)(1,143)(1,098)
Balance as of December 31,$2,344 $1,826 $2,186