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Product Warranty (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Product Warranty          
Product warranty period 1 year        
Changes in standard product warranty liability          
Balance at January 1 (beginning of year) $ 3,244 $ 5,091      
Warranties issued during the period 3,780 2,282      
Settlements made during the period (3,131) (4,405)      
Changes in estimate of liability for pre-existing warranties during the period 584 523      
Balance at September 30 (end of period) 4,477 3,491      
Product warranty classification          
Amount classified as current     $ 4,151 $ 2,759 $ 3,251
Amount classified as long-term     326   240
Total warranty liability $ 4,477 $ 3,491 $ 4,477 $ 3,244 $ 3,491