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Product Warranties
 3 Months Ended
Mar. 31, 2018
Guarantees and Product Warranties [Abstract]  
Product Warranties
Product Warranties
The Company's products are sold with warranty provisions that require the Company to remedy deficiencies in quality or performance over a specified period of time, generally three to 36 months, at no cost to its customers. A provision for the estimated future costs of warranty is based upon historical cost and product performance experience, and is recorded when revenues are recognized. The warranty accrual is recorded within the accrued liabilities and other long-term liabilities captions, based on the performance period.
The following is a reconciliation of the changes in the aggregate product warranty accrual during the three months ended March 31, 2018 and 2017:
 
Three Months Ended March 31,
(in thousands)
2018
 
2017
Product warranty accrual, beginning
$
4,186

 
$
2,677

Warranty charges incurred, net
(526
)
 
(239
)
Provision for warranty charges
730

 
445

Product warranty accrual, ending
$
4,390

 
$
2,883