Guarantees (Tables)

12 Months Ended

Dec. 31, 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 year ended December 31, are as follows:

	2016			2015			2014
Balance as of January 1,	$	2,509		$	2,286		$	2,422
Provision for warranties	2,967			3,836			3,492
Claims made	(3,522		)	(3,613		)	(3,628		)
Balance as of December 31,	$	1,954		$	2,509		$	2,286