Accrued Warranty

3 Months Ended

Mar. 31, 2021

Product Warranties Disclosures [Abstract]

Accrued Warranty

Note 7—Accrued Warranty

Activity in the product warranty accrual is included in accrued expenses above and consists of the following (in thousands):

	Three Months Ended March 31, 2021			Year Ended December 31, 2020
Balance at beginning of period	$	242		$	338
Increase in warranty accrual		24			87
Change in liability for pre-existing warranties		—			(2	)
Claims satisfied		(23	)		(181	)
Accrued warranty	$	243		$	242

Warranty expense was $24,000 and $32,000 for the three months ended March 31, 2021 and 2020, respectively.The accrued warranty balances at March 31, 2021 and December 31, 2020 each include $0.1 million relating to the voluntary recall of catheters, which occurred in September 2019. Warranty expense is included in cost of revenue in the accompanying condensed statements of operations.