v3.24.0.1
Commitments and Contingencies (Tables)
 12 Months Ended
Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Lease Information
Supplemental cash flow information related to operating leases is as follows:

Year Ended December 31,
202320222021
(in thousands)
Cash paid for amounts included in the measurement of lease liabilities
    Operating cash flows from operating leases$6,756 $6,375 $6,497 
Right-of-use assets obtained in exchange for lease liabilities
    Operating leases$1,873 $3,470 $1,646 

Weighted average remaining lease term and weighted average discount rate related to operating leases were as follows:
As of December 31,
20232022
Weighted average remaining lease term5.0 years5.1 years
Weighted average discount rate5.74 %5.69 %
Summary of Operating Lease Maturity
The future minimum undiscounted lease payments under operating leases and future non-cancelable rent payments from our subtenants for each of the next five years and thereafter as of December 31, 2023 were as follows:

Operating Lease PaymentsSublease PaymentsNet
(In thousands)
2024$5,301 $(1,947)$3,354 
20254,492 (2,006)2,486 
20264,637 (2,066)2,571 
20274,598 (2,322)2,276 
20283,663 (2,392)1,271 
Thereafter1,751 (1,228)523 
Total future lease payments$24,442 $(11,961)$12,481 
Less: interest(3,210)
Present value of future minimum lease payments$21,232 
Accrued liabilities$4,211 
Non-current operating lease liabilities17,021 
Total lease liabilities$21,232 
Schedule of Changes in Warranty Obligation
Changes in warranty obligations, which are included in accrued liabilities in the consolidated balance sheets, were as follows:
 Year Ended December 31,
 202320222021
(In thousands)
Balance at the beginning of the period$1,174 $1,330 $2,451 
Provision for (release of) warranty obligations286 145 (655)
Settlements(267)(301)(466)
Balance at the end of the period$1,193 $1,174 $1,330