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Guarantees (Tables)
3 Months Ended
Mar. 31, 2022
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:

 20222021
Balance as of January 1,$2,344 $1,826 
Provision for warranties197 291 
Claims made(187)(206)
Balance as of March 31,$2,354 $1,911