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Commitments and Contingencies (Tables)
 6 Months Ended
Jun. 30, 2021
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Warranty Activity Warranty activity during the three and six months ended June 30, 2021 and 2020 consisted of the following (in thousands):
Three Months Ended June 30,Six Months Ended June 30,
2021202020212020
Warranty accrual, beginning of period$6,861 $4,173 $6,407 $3,840 
Warranties issued1,662 1,015 2,762 1,855 
Changes in liability for existing warranties23 (52)62 (139)
Settlements(644)(285)(1,329)(705)
Warranty accrual, end of period$7,902 $4,851 $7,902 $4,851 
Schedule of Annual Minimum Operating Lease Payments The future annual undiscounted cash flows in relation to the operating leases and a reconciliation of such undiscounted cash flows to the operating lease liabilities recognized in the condensed consolidated balance sheet as of June 30, 2021 are presented below (in thousands):
Remainder of 2021$625 
20221,526 
20231,298 
2024507 
2025517 
Thereafter1,368 
Total future lease payments$5,841 
Less: Interest1,259 
Present value of lease liabilities$4,582