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Goodwill and Intangible Assets
6 Months Ended
Jun. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets Goodwill and Intangible AssetsChanges in the carrying amount of goodwill for the six months ended June 30, 2020 and the year ended December 31, 2019 were as follows:
(in thousands)June 30, 2020December 31, 2019
Beginning balance$6,323  $6,670  
Foreign currency translation
28  (347) 
Ending balance$6,351  $6,323  

The Company’s intangible assets at June 30, 2020 and December 31, 2019 consisted of the following:
June 30, 2020December 31, 2019
(in thousands)Gross Carrying
Amount
Accumulated
Amortization
ImpairmentNetGross Carrying
Amount
Accumulated
Amortization
ImpairmentNet
Other intangible assets:
Developed technology$757,866  $(225,134) $—  $532,732  $758,760  $(206,998) $—  $551,762  
In-process research and development39,000  (8,306) —  30,694  39,000  (7,222) —  31,778  
Trade name27,011  —  —  27,011  27,200  —  27,200  
Service provider network2,000  —  —  2,000  2,000  —  —  2,000  
Customer relationships18,153  (3,109) —  15,044  18,058  (2,993) —  15,065  
Software9,757  (7,726) —  2,031  9,861  (5,347) (992) 3,522  
Other100  (67) —  33  100  (58) —  42  
Total intangible assets$853,887  $(244,342) $—  $609,545  $854,979  $(222,618) $(992) $631,369  

During 2019, the Company recognized an impairment charge of $1.0 million associated with Verigo software following a partnership agreement with a new technology provider. During the Company's annual impairment testing conducted for the year ended December 31, 2019, the Company accelerated the amortization of Ripelock developed technology based on the Company's remaining expected useful life of the technology. This resulted in an increase to amortization expense of $34.0 million.

At June 30, 2020, the weighted-average amortization periods remaining for developed technology, in-process R&D, customer relationships, software and other was 15.0, 14.3, 12.4, 1.1, and 2.0 years, respectively, and the weighted-average amortization period remaining for these finite-lived intangible assets was 14.8 years.

Estimated annual amortization expense for finite-lived intangible assets subsequent to June 30, 2020 is as follows:
(in thousands)Amount
2020 (remaining)$21,665  
202141,649  
202240,820  
202340,720  
202440,720  
Thereafter394,960  
Total$580,534  

Amortization expense for intangible assets was $10.9 million and $11.8 million for the three months ended June 30, 2020 and 2019, respectively, and $21.9 million and $23.4 million for the six months ended June 30, 2020 and 2019, respectively.