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Leases
12 Months Ended
Dec. 31, 2023
Leases [Abstract]  
Leases
6. Leases
The Company applies the guidance under Topic 842 for leases of real estate facilities under non-cancelable operating leases with various expiration dates through fiscal year 2026. The Company recognized the following amounts related to its operating leases in its consolidated statements of operations and cash flows (in thousands):
Fiscal Year Ended December 31,
20232022
Operating lease costs$6,335 $6,794 
Variable lease costs$1,068 $810 
Cash paid for amounts included in the measurement of operating lease liabilities, net of lease incentives$7,303 $6,740 
During the fiscal years ended December 31, 2023 and 2022, the Company recognized an immaterial amount for short term lease expense and no sublease income.
December 31,
20232022
Weighted average remaining term (years)1.32.0
Weighted average discount rate3.9 %3.8 %
Future minimum lease payments under noncancellable operating leases with initial lease terms in excess of one year as of December 31, 2023, were as follows (in thousands):

2024$5,922 
2025809 
2026410 
Gross lease payments7,141 
Less imputed interest(192)
Present value of operating lease liabilities$6,949 
Rent expense for operating leases under Topic 840 was $5.8 million for the fiscal year ended December 31, 2021.