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Leases
 3 Months Ended
Mar. 31, 2024
Leases [Abstract]  
Leases LEASES
We have operating and finance leases for manufacturing facilities, corporate offices, research and development facilities, sales and training facilities, vehicles, and certain equipment under which we assume the role of lessee. We do not lease assets as a lessor. Our leases have remaining lease terms of less than one year to approximately eight years, some of which include options to extend the leases for up to fifteen years, and some of which include options to terminate the leases within three months. We do not participate in any material subleasing.
We determine if an arrangement is a lease at inception. Operating leases are included in Operating lease right-of-use (“ROU”) asset, Lease liability, and Lease liability - less current portion in our condensed consolidated balance sheets. Finance leases are included in Property and equipment, net, Lease liability, and Lease liability - less current portion in our condensed consolidated balance sheets.
ROU assets represent our right to use an underlying asset for the lease term and lease liabilities represent our obligation to make lease payments arising from the lease. Operating lease ROU assets and lease liabilities are recognized on the commencement date of the lease based on the present value of lease payments over the lease term. Variable lease payments that depend on an index or rate include the variable portion when calculating ROU assets and lease liabilities. Variable lease payments that do not depend on an index or rate are expensed as incurred. As most of our leases do not provide an implicit rate, we use our incremental borrowing rate based on the information available on the commencement date of the lease to determine the present value of lease payments. We use the implicit rate when readily determinable. The operating lease ROU assets also include any lease payments made and lease incentives. Our lease terms may include options to extend or terminate the lease when it is reasonably certain that we will exercise that option at the time the lease is commenced. Lease expense for lease payments is recognized on a straight-line basis over the lease term.
While we have lease agreements with lease and non-lease components, we account for the lease and non-lease components as a single lease component.
The components of lease expense were as follows:
 Three Months Ended March 31,
20242023
Operating lease cost$1,209 $1,730 
Finance lease cost:
Amortization of ROU assets19 15 
Interest on lease liabilities2 3 
Total finance lease cost$21 $18 

We recognize lease payments made for short-term leases where terms are 12 months or less as the payments are incurred. Our short-term lease costs for each of the three months ended March 31, 2024 and March 31, 2023 were less than $0.1 million.
Supplemental balance sheet information related to leases was as follows:
As ofAs of
March 31, 2024December 31, 2023
Operating leases:
Operating lease right-of-use assets$11,075 $12,231 
Current operating lease liabilities5,106 5,434 
Operating lease liabilities - less current portion9,690 10,837 
     Total operating lease liabilities14,796 16,271 
Finance leases:
Property and equipment, at cost1,685 1,722 
Accumulated amortization(1,532)(1,547)
     Property and equipment, net153 175 
Current finance lease liabilities79 108 
Finance lease liabilities - less current portion92 112 
     Total finance lease liabilities$171 $220 
Weighted Average Remaining Lease Term (in years):
     Operating leases4.504.57
     Finance leases2.412.40
Weighted Average Discount Rate:
     Operating leases5.73 %5.71 %
     Finance leases4.98 %5.02 %

Supplemental cash flow information related to leases was as follows:
Three Months Ended March 31,
20242023
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$1,743 $1,773 
Operating cash flows from finance leases2 3 
Financing cash flows from finance leases40 44 
ROU assets obtained in exchange for lease obligations:
Operating leases$131 $— 
Maturities of lease liabilities are as follows:
Year Ending December 31,Operating leasesFinance leases
2024 (excluding the first 3 months)$4,481 $69 
20253,924 61 
20262,501 37 
20271,642 12 
20281,492 3 
Thereafter2,813 — 
Total lease payments16,853 182 
Less imputed interest(2,057)(11)
Total$14,796 $171 
Leases LEASES
We have operating and finance leases for manufacturing facilities, corporate offices, research and development facilities, sales and training facilities, vehicles, and certain equipment under which we assume the role of lessee. We do not lease assets as a lessor. Our leases have remaining lease terms of less than one year to approximately eight years, some of which include options to extend the leases for up to fifteen years, and some of which include options to terminate the leases within three months. We do not participate in any material subleasing.
We determine if an arrangement is a lease at inception. Operating leases are included in Operating lease right-of-use (“ROU”) asset, Lease liability, and Lease liability - less current portion in our condensed consolidated balance sheets. Finance leases are included in Property and equipment, net, Lease liability, and Lease liability - less current portion in our condensed consolidated balance sheets.
ROU assets represent our right to use an underlying asset for the lease term and lease liabilities represent our obligation to make lease payments arising from the lease. Operating lease ROU assets and lease liabilities are recognized on the commencement date of the lease based on the present value of lease payments over the lease term. Variable lease payments that depend on an index or rate include the variable portion when calculating ROU assets and lease liabilities. Variable lease payments that do not depend on an index or rate are expensed as incurred. As most of our leases do not provide an implicit rate, we use our incremental borrowing rate based on the information available on the commencement date of the lease to determine the present value of lease payments. We use the implicit rate when readily determinable. The operating lease ROU assets also include any lease payments made and lease incentives. Our lease terms may include options to extend or terminate the lease when it is reasonably certain that we will exercise that option at the time the lease is commenced. Lease expense for lease payments is recognized on a straight-line basis over the lease term.
While we have lease agreements with lease and non-lease components, we account for the lease and non-lease components as a single lease component.
The components of lease expense were as follows:
 Three Months Ended March 31,
20242023
Operating lease cost$1,209 $1,730 
Finance lease cost:
Amortization of ROU assets19 15 
Interest on lease liabilities2 3 
Total finance lease cost$21 $18 

We recognize lease payments made for short-term leases where terms are 12 months or less as the payments are incurred. Our short-term lease costs for each of the three months ended March 31, 2024 and March 31, 2023 were less than $0.1 million.
Supplemental balance sheet information related to leases was as follows:
As ofAs of
March 31, 2024December 31, 2023
Operating leases:
Operating lease right-of-use assets$11,075 $12,231 
Current operating lease liabilities5,106 5,434 
Operating lease liabilities - less current portion9,690 10,837 
     Total operating lease liabilities14,796 16,271 
Finance leases:
Property and equipment, at cost1,685 1,722 
Accumulated amortization(1,532)(1,547)
     Property and equipment, net153 175 
Current finance lease liabilities79 108 
Finance lease liabilities - less current portion92 112 
     Total finance lease liabilities$171 $220 
Weighted Average Remaining Lease Term (in years):
     Operating leases4.504.57
     Finance leases2.412.40
Weighted Average Discount Rate:
     Operating leases5.73 %5.71 %
     Finance leases4.98 %5.02 %

Supplemental cash flow information related to leases was as follows:
Three Months Ended March 31,
20242023
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$1,743 $1,773 
Operating cash flows from finance leases2 3 
Financing cash flows from finance leases40 44 
ROU assets obtained in exchange for lease obligations:
Operating leases$131 $— 
Maturities of lease liabilities are as follows:
Year Ending December 31,Operating leasesFinance leases
2024 (excluding the first 3 months)$4,481 $69 
20253,924 61 
20262,501 37 
20271,642 12 
20281,492 3 
Thereafter2,813 — 
Total lease payments16,853 182 
Less imputed interest(2,057)(11)
Total$14,796 $171