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Guarantees (Tables)
 6 Months Ended
Jun. 30, 2016
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of service and product warranties for the six months ended June 30, are as follows:

 
2016
 
2015
 
 
 
 
Balance as of January 1,
$
2,509

 
$
2,286

 
 
 


Provision for warranties
1,692

 
1,950

 
 
 


Claims made
(1,770
)
 
(1,716
)
 
 
 


Balance as of June 30,
$
2,431

 
$
2,520