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Commitments and Contingencies (Tables)
3 Months Ended
Mar. 31, 2021
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Warranty Activity Warranty activity during the three months ended March 31, 2021 and 2020 consisted of the following (in thousands):
Three Months Ended March 31,
20212020
Warranty accrual, beginning of period$6,407 $3,840 
Warranties issued1,100 840 
Changes in liability for existing warranties39 (87)
Settlements(685)(420)
Warranty accrual, end of period$6,861 $4,173 
Schedule of Annual Minimum Operating Lease Payments
The future annual undiscounted cash flows in relation to the operating leases and a reconciliation of such undiscounted cash flows to the operating lease liabilities recognized in the condensed consolidated balance sheet as of March 31, 2021 are presented below (in thousands):
Remainder of 2021$758 
2022816 
20231,216 
202486 
202587 
Thereafter66 
Total future lease payments$3,029 
Less: Interest740 
Present value of lease liabilities$2,289