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Guarantees (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2023
Sep. 30, 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 388 297
Claims made (569) (624)
Balance as of September 30, 1,763 2,017
Extended Product Warranty Disclosure [Abstract]    
Product extended warranty expense $ 3,900 $ 4,600