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Product Warranty (Tables)
 3 Months Ended
Mar. 31, 2019
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2019 and 2018:
 
 
Three Months Ended
 
March 31,
 
2019
 
2018
Beginning balance
$
1,916

 
$
2,074

Charges to expense
453

 
741

Costs incurred
(348
)
 
(788
)
Ending balance
$
2,021

 
$
2,027