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Product Warranty - Schedule of Product Warranty Activity (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Summary of product warranty activity    
Beginning balance $ 1,287 $ 1,084
Charges to expense 44 269
Costs incurred (619) (263)
Ending balance $ 712 $ 1,090