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Guarantees (Tables)
3 Months Ended
Mar. 31, 2023
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:

 20232022
Balance as of January 1,$1,944 $2,344 
Provision for warranties115 197 
Claims made(198)(187)
Balance as of March 31,$1,861 $2,354