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Intangible Assets (Tables)
9 Months Ended
Sep. 30, 2021
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of Intangible Assets
The following table provides the gross carrying value and accumulated amortization for each major class of intangible asset at September 30, 2021 and December 31, 2020 (in millions):

September 30, 2021December 31, 2020
Gross Carrying ValueAccumulated AmortizationNet Book ValueGross Carrying ValueAccumulated AmortizationNet Book Value
Customer relationships$100.0 $(19.2)$80.8 $97.7 $(14.7)$83.0 
Technology215.5 (24.8)190.7 101.7 (13.6)88.1 
Tradename1.0 (0.1)0.9 — — — 
Total intangible assets$316.5 $(44.1)$272.4 $199.4 $(28.3)$171.1 
Schedule of Estimated Annual Amortization Expense
Estimated annual amortization expense related to intangible assets with definite lives as of September 30, 2021 is as follows (in millions):

Remainder of 2021$7.1 
202228.4 
202328.4 
202426.5 
202524.9 
202624.9 
Thereafter132.2 
Total$272.4