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INTANGIBLE ASSETS, NET
12 Months Ended
Dec. 31, 2019
Intangible Assets, Net (Excluding Goodwill) [Abstract]  
INTANGIBLE ASSETS, NET INTANGIBLE ASSETS, NET
Intangible assets, net consisted of the following (in thousands):
December 31, 2019December 31, 2018
Gross Carrying
Value
Accumulated
Amortization
Net Book
Value
Gross Carrying
Value
Accumulated
Amortization
Net Book
Value
Software development cost$30,861  $(16,951) $13,910  $22,190  $(11,647) $10,543  
Acquired software11,241  (3,359) 7,882  3,555  (494) 3,061  
Customer relationships425  (40) 385  —  —  —  
Non-compete agreements250  (56) 194  —  —  —  
Trade name35  (8) 27  —  —  —  
Total$42,812  $(20,414) $22,398  $25,745  $(12,141) $13,604  

During 2019, the Company recorded approximately $8.4 million of intangible assets in connection with the Complia and Leap Orbit acquisitions, as further discussed in Note 5, Acquisitions.
Amortization expense for intangible assets with finite lives was $8.3 million, $3.7 million and $1.9 million for the years ended December 31, 2019, 2018 and 2017, respectively. The total estimated intangible asset amortization expense in future years is as follows (in thousands):
Fiscal Year
2020$10,269  
20217,466  
20223,341  
2023901  
2024341  
Thereafter80  
$22,398