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Guarantees (Tables)
3 Months Ended
Mar. 31, 2021
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the liability for standard warranties for the three months ended March 31, are as follows:

 20212020
Balance as of January 1,$1,826 $2,186 
Provision for warranties291 355 
Claims made(206)(363)
Balance as of March 31,$1,911 $2,178