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Product Warranty (Tables)
9 Months Ended
Sep. 30, 2020
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2020 and 2019:
 
Nine Months Ended
 September 30,
 20202019
Beginning balance$2,194 $1,916 
Charges to expense1,039 1,478 
Costs incurred(1,100)(1,106)
Ending balance$2,133 $2,288