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Goodwill and Intangible Assets, Net
 9 Months Ended
Sep. 30, 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(104)
Balance at September 30, 2021
$48,510 

Intangible Assets, Net

The components of intangible assets, net were as follows:
 September 30, 2021December 31, 2020
(In thousands)
Gross (1)
Accumulated
Amortization (1)
Net
Gross (1)
Accumulated
Amortization (1)
Net
Capitalized software development costs$1,018 $(15)$1,003 $477 $— $477 
Customer relationships8,100 (4,859)3,241 8,100 (4,329)3,771 
Developed and core technology4,080 (3,262)818 4,080 (3,044)1,036 
Distribution rights333 (268)65 352 (261)91 
Patents23,944 (8,603)15,341 21,601 (7,574)14,027 
Trademarks and trade names800 (573)227 800 (492)308 
Total intangible assets, net$38,275 $(17,580)$20,695 $35,410 $(15,700)$19,710 

(1)This table excludes the gross value of fully amortized intangible assets totaling $43.1 million and $42.7 million at September 30, 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 September 30,Nine Months Ended September 30,
2021202020212020
Cost of sales$7 $— $15 $— 
Selling, general and administrative expenses938 1,752 2,622 5,472 
Total amortization expense$945 $1,752 $2,637 $5,472 
 
Estimated future annual amortization expense related to our intangible assets at September 30, 2021, was as follows:
(In thousands)
2021 (remaining 3 months)$885 
20223,929 
20233,764 
20242,776 
20252,457 
Thereafter6,884 
Total$20,695