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Warranties (Tables)
3 Months Ended
Mar. 31, 2024
Guarantees [Abstract]  
Change in Carrying Value of Company's Warranty Liability A reconciliation of the change in the carrying value of the Company’s warranty liability for the three months ended March 31, 2024 and the year ended December 31, 2023 is as follows (in thousands):
Warranty liabilityThree months ended March 31, 2024Year ended December 31, 2023
Beginning balance$1,375 $1,530 
Provision for warranties issued during the period1,026 3,489 
Fulfillment of warranty obligations(626)(3,644)
Ending balance$1,775 $1,375