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Product Warranty (Tables)
 12 Months Ended
Dec. 31, 2016
Product Warranties Disclosures [Abstract]  
Activity related to the product warranty liability
The following table summarizes the activity related to the product warranty liability (in thousands):
 
 
Balance at beginning of period
 
Cost of warranty claims
 
Accruals for product warranties
 
Balance at
end of
period
December 31, 2014
 
$
578

 
$
(17
)
 
$
55

 
$
616

December 31, 2015
 
$
616

 
$
—

 
$
(23
)
 
$
593

December 31, 2016
 
$
593

 
$
(72
)
 
$
66

 
$
587