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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2019
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2019 and 2018:
 
 
Six Months Ended
 
June 30,
 
2019
 
2018
Beginning balance
$
1,916

 
$
2,074

Charges to expense
1,169

 
1,156

Costs incurred
(904
)
 
(1,191
)
Ending balance
$
2,181

 
$
2,039