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Product Warranties (Tables)
 12 Months Ended
Dec. 31, 2019
Guarantees and Product Warranties [Abstract]  
Product Warranty Activity
Product warranty activity for the years ended December 31 was as follows (in thousands):
 
2019
 
  
2018
 
  
2017
 
Balance at the beginning of the period
  $
  268
     $
  290
     $
  214
  
Accruals for warranties for products sold in the period
   
250
      
173
      
346
  
Fulfillment of warranty obligations
   
(140
 )    
(117
 )    
(194
 )
Revisions of estimated obligations
   
(6
 )    
(78
 )    
(76
 )
                         
Balance at the end of the period
  $
  372
     $
  268
     $
  290