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Warranties (Tables)
 12 Months Ended
Dec. 31, 2016
Guarantees [Abstract]  
Warranty
Changes in the warranty accrual are as follows:

 
Years Ending December 31,
 
2016
 
2015
 
2014
Warranty accrual:
(in thousands)
Balance, beginning of period
$
8,469

 
$
8,130

 
$
7,352

Payments made
(4,134
)
 
(3,978
)
 
(4,096
)
Provisions
3,601

 
4,317

 
4,874

Adjustments related to changes in estimates
—

 
—

 
—

Balance, end of period
$
7,936

 
$
8,469

 
$
8,130

 
 
 
 
 
 
Warranty expense:
$
3,601

 
$
4,317

 
$
4,874