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Product Warranty - Schedule of Product Warranty Activity (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Summary of product warranty activity    
Beginning balance $ 1,287 $ 1,084
Charges to expense 321 579
Costs incurred (920) (440)
Ending balance $ 688 $ 1,223