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

 20232022
Balance as of January 1,$1,944 $2,344 
Provision for warranties388 297 
Claims made(569)(624)
Balance as of September 30,$1,763 $2,017