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Guarantees (Tables)
 12 Months Ended
Dec. 31, 2018
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of service and product standard warranties for the year ended December 31, are as follows:

 
2018
 
2017
 
2016
Balance as of January 1,
$
1,750

 
$
1,954

 
$
2,509

 
 
 
 
 
 
Provision for warranties
1,099

 
1,034

 
610

Claims made
(1,264
)
 
(1,238
)
 
(1,165
)
 
 
 
 
 
 
Balance as of December 31,
$
1,585

 
$
1,750

 
$
1,954