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Leases
 12 Months Ended
Dec. 31, 2022
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 $30.8 million, $32.6 million and $30.7 million for the years ended December 31, 2022, 2021 and 2020, respectively.

Maturities of lease liabilities
December 31, 2022
2023$24,613 
202421,483 
202519,884 
202619,206 
202718,338 
2028 and thereafter63,242 
Total lease payments166,766 
Less: interest(26,872)
Present value of lease liabilities$139,894 

Supplemental information
December 31, 2022December 31, 2021
Total lease liabilities (1)
$139,894 $138,163 
Cash paid for amounts included in the measurement of lease liabilities within operating cash flows$28,308 $29,199 
Right of use assets obtained in exchange for operating lease obligations$25,202 $55,290 
Weighted average remaining lease term
7.9 years
7.9 years
Weighted average discount rate4.2 %3.7 %
(1) The current portion of the operating lease liability is included in other current liabilities.