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Intangible Assets, net
12 Months Ended
Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract]  
Intangible Assets, net
9. Intangible Assets, net

Intangible assets include customer relationships and contracts associated with various business and asset acquisitions. These acquired intangible assets were recorded at fair value determined as of the acquisition date and are being amortized over the period we expect to benefit from the assets. Intangible assets, net consisted of the following (in thousands):

 
December 31, 2019
 
December 31, 2018
 
Gross
 Carrying
 Amount
 
Accumulated
Amortization
 
Gross
 Carrying
 Amount
 
Accumulated
Amortization
Customer-related (10-25 year life)
$
147,244

 
$
(76,176
)
 
$
107,008

 
$
(69,678
)
Contract-based (5-7 year life)
37,773

 
(31,370
)
 
64,556

 
(49,516
)
Intangible assets
$
185,017

 
$
(107,546
)
 
$
171,564

 
$
(119,194
)


Amortization expense of these intangible assets totaled $15.3 million, $16.5 million and $17.8 million during the years ended December 31, 2019, 2018 and 2017, respectively.

Estimated future intangible assets amortization expense is as follows (in thousands):

2020
$
15,675

2021
11,416

2022
9,078

2023
7,225

2024
6,136

Thereafter
27,941

Total
$
77,471