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Leases
 12 Months Ended
Dec. 31, 2020
Leases [Abstract]  
Leases Leases
We have operating leases for various types of properties, consisting of manufacturing plants, engineering and research centers, distribution warehouses, offices and other facilities, and equipment used in operations. Some leases provide us with an option, exercisable at our sole discretion, to terminate the lease or extend the lease term for one or more years. When measuring assets and liabilities arising from a lease that provides us with an option to extend the lease term, we take into account payments to be made in the optional extension period when it is reasonably certain that we will exercise the option. Total lease cost (all of which related to operating leases) was $30.7 million, $30.2 million and $32.6 million for the years ended December 31, 2020, 2019 and 2018, respectively.

Maturities of lease liabilities
December 31, 2020
2021$26,178 
202223,540 
202318,222 
202414,047 
20257,853 
2026 and thereafter36,131 
Total lease payments125,971 
Less: interest(17,228)
Present value of lease liabilities$108,743 
Supplemental information
December 31, 2020December 31, 2019
Total lease liabilities (1)
$108,743 $122,221 
Cash paid for amounts included in the measurement of lease liabilities within operating cash flows$28,276 $26,458 
Right of use assets obtained in exchange for operating lease obligations$8,904 $37,673 
Weighted average remaining lease term
6.7 years
7.2 years
Weighted average discount rate4.0 %4.4 %
(1) The current portion of the operating lease liability is included in other current liabilities.