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Product Warranty (Tables)
3 Months Ended
Mar. 31, 2020
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2020 and 2019:
 
Three Months Ended
 March 31,
 20202019
Beginning balance$2,194  $1,916  
Charges to expense470  453  
Costs incurred(452) (348) 
Ending balance$2,212  $2,021