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Commitments, contingencies and guarantees (Tables)
9 Months Ended
Sep. 30, 2016
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Product Warranty Liability Activity
The following table summarizes the warranty liability activity:
 
Three months ended
 
Nine months ended
(in thousands)
September 30,
2016
 
September 30,
2015
 
September 30,
2016
 
September 30,
2015
Beginning balances
$
8,939

 
$
8,719

 
$
10,855

 
$
6,405

Charged to cost of revenue
4,485

 
6,515

 
13,026

 
18,335

Settlements of warranty claims
(4,068
)
 
(5,809
)
 
(14,525
)
 
(15,315
)
Ending balances
$
9,356

 
$
9,425

 
$
9,356

 
$
9,425