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Guarantees (Tables)
9 Months Ended
Sep. 30, 2020
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the liability for standard warranties for the nine months ended September 30, are as follows:

 20202019
Balance as of January 1,$2,186 $1,585 
Provision for warranties616 1,495 
Claims made(932)(821)
Balance as of September 30,$1,870 $2,259