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Product Warranty (Tables)
9 Months Ended
Sep. 30, 2021
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2021 and 2020:
 
Nine Months Ended
 September 30,
 20212020
Beginning balance$1,812 $2,194 
Charges to expense307 1,039 
Costs incurred(701)(1,100)
Ending balance$1,418 $2,133