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Product Warranty (Tables)
9 Months Ended
Sep. 30, 2015
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2015 and 2014:
 
 
Nine Months Ended
 
September 30,
 
2015
 
2014
Beginning balance
$
1,853

 
$
1,269

Charges to expense
811

 
1,447

Costs incurred
(961
)
 
(1,050
)
Ending balance
$
1,703

 
$
1,666