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Guarantees (Tables)
6 Months Ended
Jun. 30, 2022
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:

 20222021
Balance as of January 1,$2,344 $1,826 
Provision for warranties113 864 
Claims made(369)(440)
Balance as of June 30,$2,088 $2,250