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Goodwill and Intangible Assets, Net
 9 Months Ended
Sep. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets, Net Goodwill and Intangible Assets, Net
Goodwill
Changes in the carrying amount of goodwill were as follows:
(In thousands) 
Balance at December 31, 2019$48,447 
Foreign exchange effects79 
Balance at September 30, 2020$48,526 
 
Intangible Assets, Net
The components of intangible assets, net were as follows:
 September 30, 2020December 31, 2019
(In thousands)
Gross (1)
Accumulated
Amortization (1)
Net
Gross (1)
Accumulated
Amortization (1)
Net
Distribution rights$336 $(241)$95 $322 $(210)$112 
Patents20,962 (7,294)13,668 16,587 (6,491)10,096 
Trademarks and trade names2,786 (2,435)351 2,785 (2,205)580 
Developed and core technology4,080 (2,971)1,109 12,480 (10,016)2,464 
Capitalized software development costs254 — 254 — — — 
Customer relationships31,233 (27,093)4,140 32,534 (25,956)6,578 
Total intangible assets, net$59,651 $(40,034)$19,617 $64,708 $(44,878)$19,830 
 
(1)This table excludes the gross value of fully amortized intangible assets totaling $17.6 million and $7.4 million at September 30, 2020 and December 31, 2019, respectively.
Amortization expense, which was recognized in selling, general and administrative expenses, was $1.8 million and $1.8 million during the three months ended September 30, 2020 and 2019, respectively. Amortization expense, which was recognized in selling, general and administrative expenses, was $5.5 million and $5.4 million during the nine months ended September 30, 2020 and 2019, respectively.
 
Estimated future annual amortization expense related to our intangible assets at September 30, 2020, was as follows:
(In thousands)
2020 (remaining 3 months)$1,037 
20213,391 
20223,263 
20232,999 
20242,418 
Thereafter6,509 
Total$19,617