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Guarantees (Tables)
6 Months Ended
Jun. 30, 2023
Guarantees [Abstract]  
Changes in the Carrying Amount of Service and Product Warranties
Changes in the liability for standard warranties for the six months ended June 30, are as follows:

 20232022
Balance as of January 1,$1,944 $2,344 
Provision for warranties304 113 
Claims made(377)(369)
Balance as of June 30,$1,871 $2,088