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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2023
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2023 and 2022:
 
Six Months Ended
 June 30,
 20232022
Beginning balance$1,287 $1,084 
Charges to expense321 579 
Costs incurred(920)(440)
Ending balance$688 $1,223