Commitments and contingencies Operating leases The Company entered into various non-cancelable operating lease agreements, which are generally for offices and facilities as well for auto leases. The Companys main offices are leased in California, Massachusetts and the Netherlands with additional sales and operations offices around the world. These facilities operate under leases with initial terms ranging from one to ten years and expire at various dates through 2025. Rent expense during the years ended September 28, 2019 , September 29, 2018 and September 30, 2017 was $ 13.7 million, and $14.5 million and $ 13.5 million, respectively. Inventory The Company enters into various inventory-related purchase agreements with suppliers. Under these agreements, 100% of orders are cancelable by giving sufficient notice prior to the expected shipment date. The following table presents noncancelable payments due by the Company as of September 28, 2019 , and excludes amounts already recorded on the consolidated balance sheet: Fiscal years ended (In thousands) Total 2020 2021 2022 2023 2024 Beyond Operating leases $ 83,483 $ 15,627 $ 14,759 $ 14,136 $ 14,395 $ 13,615 $ 10,951 Inventory 58,918 58,918      Other noncancelable agreements 16,321 7,985 4,207 1,525 1,510 1,094  Total contractual obligations $ 158,722 $ 82,530 $ 18,966 $ 15,661 $ 15,905 $ 14,709 $ 10,951 Legal proceedings From time to time, the Company is involved in legal proceedings in the ordinary course of business, including claims relating to employee relations, business practices and patent infringement. Litigation can be expensive and disruptive to normal business operations. Moreover, the results of complex legal proceedings are difficult to predict, and the Companys view of these matters may change in the future as the litigation and events related thereto unfold. The Company expenses legal fees as incurred. The Company records a provision for contingent losses when it is both probable that a liability has been incurred and the amount of the loss can be reasonably estimated. An unfavorable outcome to any legal matter, if material, could have an adverse effect on the Companys operations or its financial position, liquidity or results of operations. On March 10, 2017, Implicit, LLC ("Implicit") filed a patent infringement action in the United States District Court, District of Delaware against the Company. Implicit is asserting that the Company infringed on two patents in this case. The Company denies the allegations. There is no assurance of a favorable outcome and the Companys business could be adversely affected as a result of a finding that the Company patents-in-suit are invalid and/or unenforceable. A range of loss, if any, associated with this matter is not probable or reasonably estimable as of September 28, 2019 and September 29, 2018. The Company is involved in certain other litigation matters not listed above but does not consider the matters to be material either individually or in the aggregate at this time. The Companys view of the matters not listed may change in the future as the litigation and events related thereto unfold. Guarantees and indemnifications In the normal course of business, the Company enters into agreements that contain a variety of representations and warranties and provide for general indemnification. The Companys exposure under these agreements is unknown because it involves claims that may be made against the Company in the future, but have not yet been made. To date, the Company has not incurred material costs to defend lawsuits or settle claims related to these indemnification provisions. The Company has also entered into indemnification agreements with its directors and officers that may require the Company to indemnify its directors and officers against liabilities that may arise by reason of their status or service as directors or officers to the fullest extent permitted by the Delaware General Corporation Law. The Company also currently has directors and officers insurance. No amount has been accrued in the financial statements with respect to these indemnification guarantees.