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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2020
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2020 and 2019:
 
Six Months Ended
 June 30,
 20202019
Beginning balance$2,194  $1,916  
Charges to expense701  1,169  
Costs incurred(758) (904) 
Ending balance$2,137  $2,181