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Leases (Tables)
 12 Months Ended
Dec. 31, 2023
Leases [Abstract]  
Components of Lease Expense The components of lease expenses consist of following (in thousands):
Year Ended December 31,
Lease Cost202320222021
Operating lease cost 1
$44,614 $37,919 $33,241 
Variable lease cost 2
16,013 22,084 11,134 
Total lease cost $60,627 $60,003 $44,375 
1    Includes expense associated with short term leases of less than 12 months which is not material
2    Includes payments related to agreements with embedded leases that are not otherwise reflected on the balance sheet. These costs are primarily associated with our manufacturing supply arrangements and fluctuate based on factory output and material price changes.
Summary of Operating Lease Terms and Discount Rates
The following table provides a summary of our operating lease terms and discount rates:
December 31,
Remaining Lease Term and Discount Rate20232022
Weighted average remaining lease term (in years)6.27.2
Weighted average discount rate 3.7 %3.5 %
Schedule of Operating Lease Liabilities
As of December 31, 2023, the future payments related to our operating lease liabilities are as follows (in thousands):
Fiscal Year Ending December 31,Operating Leases
2024$33,838 
202528,381 
202622,449 
202716,933 
202812,746 
Thereafter25,901 
Total lease payments140,248 
Less: Imputed interest(13,629)
Total lease liabilities$126,619 
Schedule of Property, Plant and Equipment Under Operating Leases Our portfolio of leased iTero scanners included in Property, plant and equipment, net are as follows:
December 31,
20232022
Scanners under operating leases, gross$27,145 $22,914 
Less: accumulated depreciation(9,815)(3,919)
Scanners under operating leases, net$17,330 $18,995 
Schedule of Lease Payments Due
As of December 31, 2023, the future lease payments due to us are as follows (in thousands):
Fiscal Year Ending December 31,Operating Leases
2024$22,737 
202518,170 
20268,908 
Total lease payments$49,815