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Leases
 12 Months Ended
Dec. 31, 2021
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 $32.6 million, $30.7 million and $30.2 million for the years ended December 31, 2021, 2020 and 2019, respectively.

Maturities of lease liabilities
December 31, 2021
2022$26,682 
202322,790 
202419,279 
202514,789 
202615,307 
2027 and thereafter61,950 
Total lease payments160,797 
Less: interest(22,634)
Present value of lease liabilities$138,163 

Supplemental information
December 31, 2021December 31, 2020
Total lease liabilities (1)
$138,163 $108,743 
Cash paid for amounts included in the measurement of lease liabilities within operating cash flows$29,199 $28,276 
Right of use assets obtained in exchange for operating lease obligations$55,290 $8,904 
Weighted average remaining lease term
7.9 years
6.7 years
Weighted average discount rate3.7 %4.0 %
(1) The current portion of the operating lease liability is included in other current liabilities.