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Product Warranty (Tables)
9 Months Ended
Sep. 30, 2016
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2016 and 2015:
 
 
Nine Months Ended
 
September 30,
 
2016
 
2015
Beginning balance
$
1,880

 
$
1,853

Charges to expense
1,543

 
811

Costs incurred
(1,167
)
 
(961
)
Ending balance
$
2,256

 
$
1,703