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Warranty Obligations (Tables)
 3 Months Ended
Mar. 31, 2024
Product Warranties Disclosures [Abstract]  
Changes in Warranty Obligations
The changes in the warranty obligation were as follows (in thousands):
Balance as of December 31, 2023$4,244 
Provisions for warranties issued during the period1,157 
Fulfillment of warranty obligations(939)
Foreign exchange rate changes(9)
Balance as of March 31, 2024$4,453