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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2018
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2018 and 2017:
 
 
Six Months Ended
 
June 30,
 
2018
 
2017
Beginning balance
$
2,074

 
$
2,280

Charges to expense
1,156

 
500

Costs incurred
(1,191
)
 
(373
)
Ending balance
$
2,039

 
$
2,407