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Product Warranty (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Product Warranty      
Product warranty period 1 year    
Changes in standard product warranty liability      
Balance at January 1 (beginning of year) $ 6,924 $ 4,612 $ 3,244
Warranties issued during the period 10,597 7,808 5,005
Settlements made during the period (6,798) (4,282) (4,270)
Changes in estimate of liability for pre-existing warranties during the period (236) (1,214) 633
Balance at December 31 (end of period) 10,487 6,924 4,612
Product warranty classification      
Amount classified as current 8,299 6,424 4,280
Amount classified as long-term 2,188 500 332
Total warranty liability $ 10,487 $ 6,924 $ 4,612