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Guarantees (Tables)
9 Months Ended
Sep. 30, 2022
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:

 20222021
Balance as of January 1,$2,344 $1,826 
Provision for warranties297 1,235 
Claims made(624)(683)
Balance as of September 30,$2,017 $2,378