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Guarantees (Tables)
12 Months Ended
Dec. 31, 2020
Guarantees [Abstract]  
Changes in the carrying amount of service and product warranties
Changes in the carrying amount of standard warranties for the year ended December 31, are as follows:

 202020192018
Balance as of January 1,$2,186 $1,585 $1,750 
Provision for warranties783 1,699 1,099 
Claims made(1,143)(1,098)(1,264)
Balance as of December 31,$1,826 $2,186 $1,585