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Commitments and Contingencies - Product Warranty (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Movement in Standard Product Warranty Accrual [Roll Forward]    
Beginning balance $ 1,088 $ 1,997
Product warranty adjustments 456 1,183
Payments and settlements (724) (2,092)
Ending balance $ 820 $ 1,088