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Accrued Liabilities
 9 Months Ended
Sep. 30, 2021
Payables and Accruals [Abstract]  
Accrued Liabilities ACCRUED LIABILITIES
Accrued liabilities consist of the following:
As of September 30, 2021As of December 31, 2020
Accrued compensation and benefits$17,319 $17,457 
Accrued restructuring costs1,493 2,347 
Accrued warranties1,673 1,683 
Professional and legal fees2,743 1,810 
Taxes other than income2,139 5,013 
General services administration contract contingent liability (see Note 12)— 12,325 
Other accrued liabilities1,258 1,958 
$26,625 $42,593 

Activity related to accrued warranties was as follows:
 Nine Months Ended
 September 30, 2021September 30, 2020
Balance, beginning of period$1,683 $2,090 
Provision for warranty expense1,941 1,174 
Fulfillment of warranty obligations(1,951)(1,642)
Balance, end of period$1,673 $1,622