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Goodwill and Intangible Assets, Net
3 Months Ended
Mar. 31, 2021
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, 2020
$48,614 
Foreign exchange effects(87)
Balance at March 31, 2021
$48,527 

Intangible Assets, Net

The components of intangible assets, net were as follows:
 March 31, 2021December 31, 2020
(In thousands)
Gross (1)
Accumulated
Amortization (1)
Net
Gross (1)
Accumulated
Amortization (1)
Net
Capitalized software development costs$703 $(4)$699 $477 $— $477 
Customer relationships8,100 (4,506)3,594 8,100 (4,329)3,771 
Developed and core technology4,080 (3,117)963 4,080 (3,044)1,036 
Distribution rights336 (256)80 352 (261)91 
Patents22,287 (7,931)14,356 21,601 (7,574)14,027 
Trademarks and trade names800 (519)281 800 (492)308 
Total intangible assets, net$36,306 $(16,333)$19,973 $35,410 $(15,700)$19,710 

(1)This table excludes the gross value of fully amortized intangible assets totaling $42.8 million and $42.7 million at March 31, 2021 and December 31, 2020, respectively.

Amortization expense is recorded in selling, general and administrative expenses, except amortization expense related to capitalized software development costs, which is recorded in cost of sales. Amortization expense by statement of operations caption was as follows:
(In thousands)Three Months Ended March 31,
20212020
Cost of sales$$— 
Selling, general and administrative expenses834 1,800 
Total amortization expense$838 $1,800 
 
Estimated future annual amortization expense related to our intangible assets at March 31, 2021, was as follows:
(In thousands)
2021 (remaining 9 months)$2,514 
20223,586 
20233,424 
20242,508 
20252,239 
Thereafter5,702 
Total$19,973