The Company’s leases consist primarily of operating leases for administrative office space, research and development facilities, a manufacturing facility, and sales offices in various countries around the world. The Company determines if an arrangement is a lease at inception. Some lease agreements contain lease and non-lease components, which are accounted for as a single lease component. Total rent expense was $2.0 million, $1.4 million and $1.3 million for the years ended December 31, 2023, 2022 and 2021, respectively.

Initial lease terms are determined at commencement and may include options to extend or terminate the lease when it is reasonably certain the Company will exercise the option. Remaining lease terms range from one to four years, some of which include options to extend for up to five years. Leases with an initial term of twelve months or less are not recorded on the consolidated balance sheets. As the Company’s leases do not provide an implicit rate, the present value of future lease payments is determined using the Company’s incremental borrowing rate based on information available at the lease commencement date.

The table below reconciles the undiscounted cash flows for the first five years and the total of the remaining years to the operating lease liabilities recorded on the consolidated balance sheets as of December 31, 2023 (in thousands):


	December 31,
	2023
2024	$	2,004
2025		1,776
2026		1,354
2027		864
2028		24
Thereafter		—
Total minimum lease payments		6,022
Less: amount of lease payments representing interest		(592	)
Present value of future minimum lease payments		5,430
Less: current liabilities under operating leases		(1,714	)
Long-term operating lease liabilities	$	3,716

As of December 31, 2023, the weighted average remaining lease term for the Company’s operating leases was 3.3 years, and the weighted average discount rate used to determine the present value of the Company’s operating leases was 7.0%.

Cash paid for amounts included in the measurement of operating lease liabilities was $1.8 million, $1.4 million and $1.4 million for the years ended December 31, 2023, 2022 and 2021, respectively.