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Commitments and Contingencies (Tables)
 9 Months Ended
Sep. 30, 2021
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Warranty Activity Warranty activity during the three and nine months ended September 30, 2021 and 2020 consisted of the following (in thousands):
Three Months Ended September 30,Nine Months Ended September 30,
2021202020212020
Warranty accrual, beginning of period$7,902 $4,851 $6,407 $3,840 
Warranties issued1,962 1,137 4,724 2,992 
Changes in liability for existing warranties(44)51 18 (88)
Settlements(769)(638)(2,098)(1,343)
Warranty accrual, end of period$9,051 $5,401 $9,051 $5,401 
Lessee, Operating Lease, Liability, Maturity 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 September 30, 2021 are presented below (in thousands):
Remainder of 2021$361 
20221,538 
20231,306 
2024507 
2025517 
Thereafter1,368 
Total future lease payments$5,597 
Less: Interest544 
Present value of lease liabilities$5,053