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Warranties (Tables)
12 Months Ended
Dec. 31, 2019
Guarantees [Abstract]  
Warranty
Changes in the warranty accrual are as follows:
 Years Ended December 31,
 201920182017
Warranty accrual:(in thousands)
Balance, beginning of period$11,421  $10,483  $7,936  
Payments made(6,816) (7,869) (8,686) 
Provisions8,047  9,669  11,233  
Change in estimate—  (862) —  
     Balance, end of period$12,652  $11,421  $10,483  
Warranty expense:$8,047  $8,807  $11,233