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Product Warranty (Tables)
3 Months Ended
Mar. 31, 2015
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2015 and 2014:
 
 
Three Months Ended
 
March 31,
 
2015
 
2014
Beginning balance
$
1,853

 
$
1,269

Charges to expense
57

 
434

Costs incurred
(196
)
 
(336
)
Ending balance
$
1,714

 
$
1,367