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Warranties - Changes in Warrants (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Warranty accrual:      
Balance, beginning of period $ 11,421 $ 10,483 $ 7,936
Payments made (6,816) (7,869) (8,686)
Provisions 8,047 9,669 11,233
Change in estimate 0 (862) 0
Balance, end of period 12,652 11,421 10,483
Warranty expense $ 8,047 $ 8,807 $ 11,233