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Leases (Tables)
 3 Months Ended
Mar. 31, 2021
Leases [Abstract]  
Future minimum lease payments under operating leases Maturities of lease liabilities as of March 31, 2021 under operating leases having an initial or remaining non-cancelable term of one year or more are as follows:
Remainder of 2021
$2,758 
20221,662 
2023762 
2024421 
2025 and thereafter
261 
Total minimum lease payments$5,864 
Less amount representing interest$(391)
Present value of net minimum operating lease payments$5,473 
Less current installments of obligation under current-operating lease liabilities$2,973 
Obligations under long-term operating lease liabilities, excluding current installments$2,500 
Weighted-average remaining lease term - operating leases (years)2.34
Weighted-average discount rate - operating leases5.50 %
Future minimum lease payments under finance leases The future minimum lease payments under this financing lease as of March 31, 2021 are:
Remainder of 2021
$198 
2022264 
202322 
Total minimum lease payments$484 
Less amount representing interest$(7)
Present value of net minimum financing lease payments$477 
Less current installments of obligation under accrued other$259 
Obligations under other long-term liabilities, excluding current installments$218 
Weighted-average remaining lease term - finance leases (years)1.92
Weighted-average discount rate - finance leases1.53 %
Sales-type lease, future undiscounted cash flows
The future undiscounted cash flows from these leases as of March 31, 2021 are:
Remainder of 2021
$4,153 
20223,531 
20232,926 
20242,028 
2025693 
202616 
Total undiscounted cash flows$13,347 
Present value of lease payments$11,705 
Difference between undiscounted cash flows and discounted cash flows $1,642