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Leases
 6 Months Ended
Jun. 30, 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 June 30,Six Months Ended June 30,
2024202320242023
Operating lease cost$1,595 $1,841 $2,804 $3,571 
Finance lease cost:
Amortization of ROU assets57 34 76 49 
Interest on lease liabilities4 6 6 9 
Total finance lease cost$61 $40 $82 $58 

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 and six months ended June 30, 2024 and 2023 were less than $0.1 million.
Supplemental balance sheet information related to leases was as follows:
As ofAs of
June 30, 2024December 31, 2023
Operating leases:
Operating lease right-of-use assets$10,960 $12,231 
Current operating lease liabilities4,645 5,434 
Operating lease liabilities - less current portion9,556 10,837 
     Total operating lease liabilities14,201 16,271 
Finance leases:
Property and equipment, at cost1,082 1,722 
Accumulated amortization(961)(1,547)
     Property and equipment, net121 175 
Current finance lease liabilities79 108 
Finance lease liabilities - less current portion124 112 
     Total finance lease liabilities$203 $220 
Weighted Average Remaining Lease Term (in years):
     Operating leases4.514.57
     Finance leases3.042.40
Weighted Average Discount Rate:
     Operating leases5.76 %5.71 %
     Finance leases5.02 %5.02 %

Supplemental cash flow information related to leases was as follows:
Six Months Ended June 30,
20242023
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$3,461 $3,722 
Operating cash flows from finance leases6 9 
Financing cash flows from finance leases109 105 
ROU assets obtained in exchange for lease obligations:
Operating leases$589 $— 
Maturities of lease liabilities are as follows:
Year Ending December 31,Operating leasesFinance leases
2024 (excluding the first 6 months)$2,749 $50 
20253,942 74 
20262,709 50 
20271,855 25 
20281,709 16 
Thereafter3,206 4 
Total lease payments16,170 219 
Less imputed interest(1,969)(16)
Total$14,201 $203 
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 June 30,Six Months Ended June 30,
2024202320242023
Operating lease cost$1,595 $1,841 $2,804 $3,571 
Finance lease cost:
Amortization of ROU assets57 34 76 49 
Interest on lease liabilities4 6 6 9 
Total finance lease cost$61 $40 $82 $58 

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 and six months ended June 30, 2024 and 2023 were less than $0.1 million.
Supplemental balance sheet information related to leases was as follows:
As ofAs of
June 30, 2024December 31, 2023
Operating leases:
Operating lease right-of-use assets$10,960 $12,231 
Current operating lease liabilities4,645 5,434 
Operating lease liabilities - less current portion9,556 10,837 
     Total operating lease liabilities14,201 16,271 
Finance leases:
Property and equipment, at cost1,082 1,722 
Accumulated amortization(961)(1,547)
     Property and equipment, net121 175 
Current finance lease liabilities79 108 
Finance lease liabilities - less current portion124 112 
     Total finance lease liabilities$203 $220 
Weighted Average Remaining Lease Term (in years):
     Operating leases4.514.57
     Finance leases3.042.40
Weighted Average Discount Rate:
     Operating leases5.76 %5.71 %
     Finance leases5.02 %5.02 %

Supplemental cash flow information related to leases was as follows:
Six Months Ended June 30,
20242023
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases$3,461 $3,722 
Operating cash flows from finance leases6 9 
Financing cash flows from finance leases109 105 
ROU assets obtained in exchange for lease obligations:
Operating leases$589 $— 
Maturities of lease liabilities are as follows:
Year Ending December 31,Operating leasesFinance leases
2024 (excluding the first 6 months)$2,749 $50 
20253,942 74 
20262,709 50 
20271,855 25 
20281,709 16 
Thereafter3,206 4 
Total lease payments16,170 219 
Less imputed interest(1,969)(16)
Total$14,201 $203