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Product Warranty (Tables)
 3 Months Ended
Mar. 31, 2014
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2014 and 2013:
 
 
Three Months Ended
 
March 31,
 
2014
 
2013
Beginning balance
$
1,269

 
$
814

Charges to expense
434

 
315

Costs incurred
(336
)
 
(326
)
Ending balance
$
1,367

 
$
803