AceShowbiz - A year after filing suit against "American Idol" producer Nigel Lythgoe for alleged sexual assault, former "Idol" judge Paula Abdul has reached a settlement.

The terms of the settlement were not disclosed in court documents. In a joint statement, Abdul and Lythgoe expressed relief at putting the matter behind them.

Abdul stated, "I am grateful that this chapter has successfully come to a close and is now something I can now put behind me. This has been a long and hard-fought personal battle. I hope my experience can serve to inspire other women, facing similar struggles, to overcome their own challenges with dignity and respect."

Lythgoe said, "We live in a troubling time where a person is now automatically assumed to be guilty until proven innocent, a process that can take years. That is why, like Paula, I am glad to be able to put this behind me. I know the truth and that gives me great comfort."

Abdul's lawsuit alleged that Lythgoe sexually assaulted her twice during her time on "American Idol" and "So You Think You Can Dance." One incident allegedly occurred in a hotel elevator in the early 2000s, while the other allegedly occurred at Lythgoe's home in 2015. Abdul also claimed that she was subjected to bullying and harassment and suffered gender pay discrimination during her tenure on the shows.

Lythgoe vehemently denied Abdul's allegations, calling them "a smear campaign." Since then, four additional women have filed lawsuits against Lythgoe with similar allegations, including two former contestants on "All American Girl."

Amid the allegations, Fox announced that Lythgoe would not return to "So You Think You Can Dance" for Season 18. JoJo Siwa was named as his replacement.