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Product Warranty (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2017
Mar. 31, 2016
Dec. 31, 2016
Product Warranties Disclosures [Abstract]      
Product Warranty Accrual $ 2,395   $ 2,280
Summary of product warranty activity      
Beginning balance 2,280 $ 1,880  
Charges to expense 237 528  
Costs incurred (122) (333)  
Ending balance $ 2,395 $ 2,075