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Warranties - Changes in accrued product warranties (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Movement in Standard Product Warranty Accrual [Roll Forward]      
Balances at beginning of period $ 2,084 $ 2,312 $ 2,329
Warranty acquired in business combinations 4,818 305 118
Increases to accruals 1,752 1,606 2,029
Warranty expenditures (2,249) (2,127) (2,184)
Effect of changes in exchange rates 8 (12) 20
Balances at end of period $ 6,413 $ 2,084 $ 2,312