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Product Warranties (Tables)
 3 Months Ended
Mar. 31, 2018
Guarantees and Product Warranties [Abstract]  
Reconciliation of Changes in Aggregate Product Warranty Accrual
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