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Guarantees (Tables)
 3 Months Ended
Mar. 31, 2017
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of service and product warranties for the three months ended March 31, are as follows:

 
2017
 
2016
Balance as of January 1,
$
1,954

 
$
2,509

 
 
 


Provision for warranties
777

 
833

 
 
 


Claims made
(906
)
 
(841
)
 
 
 


Balance as of March 31,
$
1,825

 
$
2,501