I have a zookeeper cluster with 3 nodes and tick time set to 2s

When a client connects to the cluster I see a log entry like this:

INFO  | Session establishment complete on server XXX, sessionid = XXX, 
negotiated timeout = 4000 | org.apache.zookeeper.ClientCnxn | 
main-SendThread(XXX:2181)

Notice the "negotiated timeout = 4000"

But about once a day I see a log entry like this:

INFO  | Client session timed out, have not heard from server in 2953ms for 
sessionid XXX, closing socket connection and attempting reconnect | 
org.apache.zookeeper.ClientCnxn | main-SendThread(XXX:2181)

Why would the client (apparently) timeout the session after only 2953ms if the 
negotiated timeout was 4000ms?

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