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Product Warranty - Schedule of Product Warranty Activity (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Summary of product warranty activity    
Beginning balance $ 1,287 $ 1,084
Charges to expense 521 964
Costs incurred (1,166) (764)
Ending balance $ 642 $ 1,284