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Goodwill and Intangible Assets, Net (Tables)
 3 Months Ended
Mar. 31, 2024
Goodwill and Intangible Assets Disclosure [Abstract]  
Changes in the Carrying Amount of Goodwill
Components of Intangible Assets, Net
The components of intangible assets, net were as follows:
 March 31, 2024December 31, 2023
(In thousands)
Gross (1)
Accumulated
Amortization (1)
Net
Gross (1)
Accumulated
Amortization (1)
Net
Capitalized software development costs$2,246 $(561)$1,685 $2,161 $(421)$1,740 
Customer relationships 6,340 (3,984)2,356 6,340 (3,803)2,537 
Developed and core technology 740 (327)413 4,220 (3,754)466 
Patents33,917 (13,321)20,596 33,195 (12,686)20,509 
Trademarks and trade names450 (368)82 450 (353)97 
Total intangible assets, net$43,693 $(18,561)$25,132 $46,366 $(21,017)$25,349 

(1)This table excludes the gross value of fully amortized intangible assets totaling $48.5 million and $45.0 million at March 31, 2024 and December 31, 2023, respectively.
Finite-lived Intangible Assets Amortization Expense Amortization expense by statement of operations caption was as follows:
(In thousands)Three Months Ended March 31,
20242023
Cost of sales$140 $8 
Selling, general and administrative expenses1,096 1,057 
Total amortization expense$1,236 $1,065 
Estimated Future Amortization Expense Related to Intangible Assets
Estimated future annual amortization expense related to our intangible assets at March 31, 2024, was as follows:
(In thousands)
2024 (remaining 9 months)$3,920 
20254,677 
20264,030 
20273,219 
20282,591 
Thereafter6,695 
Total$25,132