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Product Warranty (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2021
Sep. 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 5,277 3,780  
Settlements made during the period (3,099) (3,131)  
Changes in estimate of liability for pre-existing warranties during the period (452) 584  
Balance at September 30 (end of period) 6,338 4,477  
Product warranty classification      
Amount classified as current 5,741 4,151 $ 4,280
Amount classified as long-term 597 326  
Total warranty liability $ 6,338 $ 4,477 $ 4,612