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Guarantees (Tables)
12 Months Ended
Dec. 31, 2022
Guarantees [Abstract]  
Changes in the Carrying Amount of Service and Product Warranties
Changes in the carrying amount of standard warranties for the years ended December 31, are as follows:

 202220212020
Balance as of January 1,$2,344 $1,826 $2,186 
Provision for warranties224 1,458 783 
Claims made(624)(940)(1,143)
Balance as of December 31,$1,944 $2,344 $1,826