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Leases (Tables)
 12 Months Ended
Dec. 31, 2019
Leases [Abstract]  
Summary of Lease Expense Components, Supplemental Cash Flow Information and Other Information
The components of lease expense recognized under ASC 842 were as follows (in thousands):

Year ended December 31, 2019
Operating lease cost$3,544  
Short-term lease cost1,324  
Variable lease cost923  
$5,791  
Under ASC 840, rent expense for the years ended December 31, 2018 and 2017 was $5.6 million and $4.7 million, respectively.
Supplemental cash flow information related to leases was as follows (in thousands):

Year ended December 31, 2019
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$4,018  
Right-of-use assets obtained in exchange for lease obligations:
Operating leases$2,207  
Other supplemental information related to leases was as follows:
As of December 31, 2019
Weighted Average Remaining Lease Term (in years)
Operating leases7.6
Weighted Average Discount Rate
Operating leases5.7 %
Summary of Future Estimated Minimum Lease Payments
As of December 31, 2019, future estimated minimum lease payments under non-cancelable operating leases were as follows (in thousands):
Operating Leases
2020$4,198  
20214,327  
20223,872  
20233,540  
20242,751  
Thereafter8,504  
Total minimum lease payments27,192  
Less: Amount representing interest(5,564) 
Total$21,628