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Product Warranty (Tables)
3 Months Ended
Mar. 31, 2024
Product Warranties Disclosures [Abstract]  
Summary of product warranty activity
The following table summarizes product warranty activity during 2024 and 2023:
 
Three Months Ended
 March 31,
 20242023
Beginning balance$828 $1,287 
Charges to expense264 44 
Costs incurred(366)(619)
Ending balance$726 $712