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Product Warranty - Schedule of Product Warranty Activity (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Summary of product warranty activity    
Beginning balance $ 1,812 $ 2,194
Charges to expense 224 701
Costs incurred (441) (758)
Ending balance $ 1,595 $ 2,137