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Accrued Expenses
 12 Months Ended
Dec. 31, 2019
Payables and Accruals [Abstract]  
Accrued Expenses Accrued Expenses
Accrued expenses consisted of the following (in thousands):
 
December 31,
 
2019
 
2018
Salaries, commissions, and payroll taxes
$
11,500

 
$
11,039

Foreign retirement obligations
6,146

 
4,816

Warranty obligations
4,713

 
4,743

Vacation
4,708

 
6,507

Acquisition deferred and contingent liabilities
2,103

 
1,706

Company bonuses
—

 
9,134

Other
23,029

 
22,275

 
$
52,199

 
$
60,220


The changes in the warranty obligation were as follows (in thousands):
Balance as of December 31, 2017
$
4,701

Provisions for warranties issued during the period
4,184

Fulfillment of warranty obligations
(4,024
)
Foreign exchange rate changes
(118
)
Balance as of December 31, 2018
4,743

Provisions for warranties issued during the period
3,841

Fulfillment of warranty obligations
(3,871
)
Balance as of December 31, 2019
$
4,713