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,
	2023		2022		2021
	(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,
	2023		2022
Weighted average remaining lease term	5.0 years		5.1 years
Weighted average discount rate	5.74	%	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 Payments		Sublease Payments		Net
	(In thousands)
2024	$	5,301	$	(1,947)	$	3,354
2025	4,492		(2,006)		2,486
2026	4,637		(2,066)		2,571
2027	4,598		(2,322)		2,276
2028	3,663		(2,392)		1,271
Thereafter	1,751		(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 liabilities	17,021
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,
	2023		2022		2021
	(In thousands)
Balance at the beginning of the period	$	1,174	$	1,330	$	2,451
Provision for (release of) warranty obligations	286		145		(655)
Settlements	(267)		(301)		(466)
Balance at the end of the period	$	1,193	$	1,174	$	1,330