As of January 31, 2022, the intangible assets primarily consist of intangible assets acquired from Oculii, including developed technology, customer relationships and trade name. The intangible assets also include IPR&D reclassified from an indefinite-lived asset to a finite-lived asset and software licenses. In the third quarter of fiscal year 2022, the Company determined that the underlying project incorporating the IPR&D from the prior acquisition of VisLab S.r.l., or VisLab, was completed. As a result, the $4.1 million of IPR&D was reclassified as definite-lived developed technology and started amortization over its estimated economic life of 7 years.

The Company enters into certain software license agreements with third parties from time-to-time. The software licenses consist of noncancelable on premise internal-use software and software with alternative use that is to be sold, leased or otherwise marketed as part of a product. The licenses have been capitalized as intangible assets, and the corresponding future payments have been recorded as liabilities at net present value. As of January 31, 2022, $6.0 million was recorded in accrued and other current liabilities and $1.7 million was recorded in other long-term liabilities in the consolidated balance sheets.

The components of intangible assets as of January 31, 2022 and 2021 were as follows:

	As of January 31, 2022							As of January 31, 2021
	Gross Carrying Amount		Accumulated Amortization			Net Carrying Amount		Gross Carrying Amount		Accumulated Amortization			Net Carrying Amount
	(in thousands)
In-process research and development	$	—	$	—		$	—	$	4,100	$	—		$	4,100
Developed technology		21,200		(904	)		20,296		—		—			—
Customer relationships		13,200		(367	)		12,833		—		—			—
Trade name		2,500		(89	)		2,411		—		—			—
Software licenses		22,093		(11,331	)		10,762		21,043		(6,440	)		14,603
Total intangible assets, net	$	58,993	$	(12,691	)	$	46,302	$	25,143	$	(6,440	)	$	18,703

During the twelve months ended January 31, 2022, there was approximately $1.5 million of software licenses retired. The amortization expense associated with these intangible assets was approximately $7.8 million, $6.5 million, and $5.9 million for the fiscal years ended January 31, 2022, 2021 and 2020 respectively. The expected annual amortization expense related to these intangible assets as of January 31, 2022 is as follows:

	As of
	January 31, 2022
Fiscal Year	(in thousands)
2023	$	11,927
2024		8,176
2025		5,216
2026		4,853
2027		4,852
Thereafter		11,278
Total future amortization expenses:	$	46,302

The Company is required to test the impairment prior to changing the IPR&D from an indefinite-lived asset to a finite-lived asset. There were no intangible asset impairments for the fiscal years ended January 31, 2022, 2021 and 2020, respectively.