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Revenue Recognition Product Warranty Liability (Tables)
 3 Months Ended
Mar. 31, 2020
Product Warranties Disclosures [Abstract]  
Schedule of Product Warranty Liability [Table Text Block] The changes in deferred service-type warranty revenue are as follows (in thousands):
Balance as of January 1, 2020
$
27,067

Additional warranty revenue deferred
11,086

Warranty revenue recognized
(11,353
)
Balance as of March 31, 2020
$
26,800