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Balance sheet components
 6 Months Ended
Jun. 30, 2021
Balance Sheet Related Disclosures [Abstract]  
Balance sheet components Balance sheet components 
Accounts receivable, net
Accounts receivable, net, consists of the following (in thousands):
 June 30, 2021December 31, 2020
Accounts receivable$47,806 $45,277 
Allowance for doubtful accounts(43)(45)
 $47,763 $45,232 

Inventories
Inventories consist of the following (in thousands): 
 June 30, 2021December 31, 2020
Raw materials$24,523 $25,620 
Work in process11,695 9,196 
Finished goods(1)
8,123 12,085 
 $44,341 $46,901 
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(1)Finished goods inventory at customer vendor managed inventory locations was $2.2 million and $1.7 million as of June 30, 2021 and December 31, 2020, respectively.
Prepaid expenses and other current assets
Prepaid expenses and other current assets consist of the following (in thousands):
 June 30, 2021December 31, 2020
Transition services agreement receivable (refer to Note 11)$— $5,933 
Prepaid taxes and taxes receivable3,207 6,137 
Receivables due from suppliers8,030 4,891 
Deposits and other prepaid expenses2,705 2,417 
Other receivable365 795 
 $14,307 $20,173 
Purchased intangible assets, net 
Purchased intangible assets, net, consist of the following (in thousands):
 June 30, 2021December 31, 2020
 Gross
Assets		Accumulated
Amortization		Net
Assets		Gross
Assets		Accumulated
Amortization		Net
Assets
Technology and patents$37,778 $(37,485)$293 $37,637 $(37,021)$616 
Customer relationships15,484 (15,484)— 15,487 (15,487)— 
Leasehold interest1,318 (472)846 1,304 (452)852 
 $54,580 $(53,441)$1,139 $54,428 $(52,960)$1,468 
For the three months ended June 30, 2021 and 2020, amortization expense relating to technology and patents is included within cost of goods sold and totaled $0.2 million in each period. For the six months ended June 30, 2021 and 2020, amortization expense relating to technology and patents is included within cost of goods sold and totaled $0.3 million and $0.4 million, respectively.
The estimated future amortization expense of purchased intangible assets as of June 30, 2021, was as follows (in thousands): 
2021 (remaining six months)$300 
202210 
202310 
202410 
202510 
Thereafter799 
 $1,139 
Accrued and other current liabilities
Accrued and other current liabilities consist of the following (in thousands): 
 June 30, 2021December 31, 2020
Employee-related$12,471 $19,656 
Transition services agreement payables (refer to Note 11)823 9,708 
Operating lease liabilities, current2,429 2,128 
Income and other taxes payable1,734 1,590 
Accrued warranty903 1,111 
Other accrued expenses7,101 7,860 
 $25,461 $42,053 
Warranty accrual
The table below summarizes the movement in the warranty accrual, which is included in accrued and other current liabilities (in thousands):
 Three Months Ended
June 30,		Six Months Ended
June 30,
 2021202020212020
Beginning balance$1,096 $749 $1,111 $712 
Warranty accruals4 1,011 65 1,236 
Settlements(197)(143)(273)(331)
Ending balance$903 $1,617 $903 $1,617 

 
Other noncurrent liabilities 
Other noncurrent liabilities consist of the following (in thousands): 
 June 30, 2021December 31, 2020
Pension and other employee-related$3,585 $3,844 
Asset retirement obligations3,849 3,810 
Transition services agreement payables (See Note 11)— 823 
Deferred income tax liabilities507 501 
Government grant505 606 
 $8,446 $9,584