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Product Warranty (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Product Warranty      
Product warranty period 1 year    
Changes in standard product warranty liability      
Balance at January 1 (beginning of year) $ 4,612 $ 3,244  
Warranties issued during the period 3,013 2,635  
Settlements made during the period (1,991) (1,913)  
Changes in estimate of liability for pre-existing warranties during the period (372) 177  
Balance at June 30 (end of period) 5,262 4,143  
Product warranty classification      
Amount classified as current 4,690 3,942 $ 4,280
Amount classified as long-term 572 201  
Total warranty liability $ 5,262 $ 4,143 $ 4,612