Is it true that Johnny Galecki and Kaley Cuoco from 'The Big Bang Theory' had a real life relationship?

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Is it true that Johnny Galecki and Kaley Cuoco from The Big Bang Theory had a real life relationship?
I don't know if this is true or not but I heard this couple actually had a real life relationship and that it lasted quite a while. I heard they aren't currently in a relationship though.

Was this actually true or was this just a rumor?
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Is it true that Johnny Galecki and Kaley Cuoco from 'The Big Bang Theory' had a real life relationship?
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