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Product Warranty (Tables)
6 Months Ended
Jun. 30, 2024
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2024 and 2023:
 
Six Months Ended
 June 30,
 20242023
Beginning balance$828 $1,287 
Charges to expense465 321 
Costs incurred(657)(920)
Ending balance$636 $688