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Product Warranty (Tables)
3 Months Ended
Mar. 31, 2021
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2021 and 2020: 
Three Months Ended
 March 31,
 20212020
Beginning balance$1,812 $2,194 
Charges to expense61 470 
Costs incurred(239)(452)
Ending balance$1,634 $2,212