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Guarantees (Tables)
 3 Months Ended
Mar. 28, 2020
Guarantees [Abstract]  
Activity Related to Product Warranty
Activity related to product warranty was as follows (in thousands):
 
Three Months Ended
 
March 28, 2020
 
March 30, 2019
Beginning balance
$
43,348

 
$
41,021

Charges to operations
6,312

 
5,420

Utilization
(8,335
)
 
(5,803
)
Change in estimate(1)
(1,863
)
 
(887
)
Balance at the end of the period
$
39,462

 
$
39,751

(1) 
The Company records product warranty liabilities based on the latest quality and cost information available as of the date the revenue is recorded. The changes in estimate shown here are due to changes in overall actual failure rates, the mix of new versus used units related to replacement of failed units, and changes in the estimated cost of repair including product recalls. As the Company's products mature over time, failure rates and repair costs associated with such products generally decline leading to favorable changes in warranty reserves.