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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2017
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2017 and 2016:
 
 
Six Months Ended
 
June 30,
 
2017
 
2016
Beginning balance
$
2,280

 
$
1,880

Charges to expense
500

 
1,044

Costs incurred
(373
)
 
(697
)
Ending balance
$
2,407

 
$
2,227