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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2022
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2022 and 2021:
 
Six Months Ended
 June 30,
 20222021
Beginning balance$1,179 $1,812 
Charges to expense679 224 
Costs incurred(460)(441)
Ending balance$1,398 $1,595