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Property and Equipment
 12 Months Ended
Dec. 31, 2019
Property, Plant and Equipment [Abstract]  
Property and Equipment PROPERTY AND EQUIPMENT
Property and equipment, net is comprised of the following (in thousands):
 
December 31,
 
2019
 
2018
Computer equipment and software
$
11,320

 
$
20,876

Engineering and test equipment
1,333

 
4,168

Building and improvements
3,702

 
3,711

Leasehold improvements
11,315

 
11,364

Furniture and fixtures
1,121

 
1,549

Property and equipment, gross
28,791

 
41,668

Less: accumulated depreciation
(18,574
)
 
(31,617
)
Property and equipment, net
$
10,217

 
$
10,051


Depreciation expense was $3.9 million, $3.7 million and $3.9 million in 2019, 2018 and 2017, respectively. Depreciation expense included depreciation of computer software costs of $0.2 million, $0.3 million and $0.5 million in 2019, 2018 and 2017, respectively. Accumulated depreciation related to computer software costs was $1.1 million and $9.2 million as of December 31, 2019 and 2018, respectively. The net book value of our computer software was $0.2 million and $0.3 million as of December 31, 2019 and 2018, respectively.