Why does Kafka have a lot of Sensor objects in Old gen heap?

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I have a Kafka broker (2.7.1) running on Java 11. I noticed that the broker is slow because of the G1 old generation collections. Taking a heap dump reveled that about 30% of heap is used by a ConcurrentHashMap$Node which retains 1000s of org.apache.kafka.common.metrics.Sensor objects.

Why does Kafka keeps so many Sensor objects?

Looking at the Kafka log, I see that a Sensor is mentioned only twice.

INFO Created ConnectionAcceptRate sensor, quotaLimit=2147483647 (kafka.network.ConnectionQuotas)
INFO Created ConnectionAcceptRate-PLAINTEXT sensor, quotaLimit=2147483647 (kafka.network.ConnectionQuotas)

Is there a Kafka configuration that can change to reduce the amount of memory usage?

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