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Revenue Recognition Product Warranty Liability (Tables)
 12 Months Ended
Dec. 31, 2021
Product Warranties Disclosures [Abstract]  
Schedule of Product Warranty Liability [Table Text Block] The changes in deferred service-type warranty revenue are as follows (in thousands):
Service-Type Warranties
Balance as of January 1, 2020$27,067 
Additional warranty revenue deferred43,214 
Warranty revenue recognized(44,659)
Balance as of December 31, 202025,622 
Additional warranty revenue deferred70,561 
Warranty revenue recognized(64,526)
Balance as of December 31, 2021$31,657