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Warranty Obligations (Tables)
 6 Months Ended
Jun. 30, 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 period2,120 
Fulfillment of warranty obligations(1,990)
Foreign exchange rate changes(20)
Balance as of June 30, 2024$4,354