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Guarantees (Tables)
12 Months Ended
Dec. 31, 2023
Guarantees [Abstract]  
Changes in the Carrying Amount of Service and Product Warranties
Changes in the carrying amount of standard warranties for the years ended December 31, are as follows:

 202320222021
Balance as of January 1,$1,944 $2,344 $1,826 
Provision for warranties614 224 1,458 
Claims made(756)(624)(940)
Balance as of December 31,$1,802 $1,944 $2,344