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Guarantees (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Guarantees [Abstract]    
Standard warranty period (in years) 1 year  
Movement in Standard Product Warranty Accrual [Roll Forward]    
Balance as of January 1, $ 1,944 $ 2,344
Provision for warranties 115 197
Claims made (198) (187)
Balance as of March 31, 1,861 2,354
Extended Product Warranty Disclosure [Abstract]    
Product extended warranty expense $ 1,500 $ 1,600