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Goodwill and Intangible Assets
9 Months Ended
Sep. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets Goodwill and Intangible AssetsChanges in the carrying amount of goodwill for the nine months ended September 30, 2020 and the year ended December 31, 2019 were as follows:
(in thousands)September 30, 2020December 31, 2019
Beginning balance$6,323 $6,670 
Foreign currency translation
282 (347)
Ending balance$6,605 $6,323 

The Company’s intangible assets at September 30, 2020 and December 31, 2019 consisted of the following:
September 30, 2020December 31, 2019
(in thousands)Gross Carrying
Amount
Accumulated
Amortization
ImpairmentNetGross Carrying
Amount
Accumulated
Amortization
ImpairmentNet
Other intangible assets:
Developed technology$798,240 $(244,918)$— $553,322 $758,760 $(206,998)$— $551,762 
In-process research and development— — — — 39,000 (7,222)— 31,778 
Trade name27,158 — — 27,158 27,200 — 27,200 
Service provider network2,000 — — 2,000 2,000 — — 2,000 
Customer relationships18,551 (3,548)— 15,003 18,058 (2,993)— 15,065 
Software10,691 (8,967)— 1,724 9,861 (5,347)(992)3,522 
Other100 (71)— 29 100 (58)— 42 
Total intangible assets$856,740 $(257,504)$— $599,236 $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 September 30, 2020, the weighted-average amortization periods remaining for developed technology, in-process R&D, customer relationships, software and other was 14.8, 14.0, 12.1, 1.0, and 1.8 years, respectively, and the weighted-average amortization period remaining for these finite-lived intangible assets was 14.6 years.

Estimated annual amortization expense for finite-lived intangible assets subsequent to September 30, 2020 is as follows:
(in thousands)Amount
2020 (remaining)$12,045 
202141,730 
202240,893 
202340,791 
202440,791 
Thereafter393,828 
Total$570,078 

Amortization expense for intangible assets was $11.0 million and $11.8 million for the three months ended September 30, 2020 and 2019, respectively, and $32.9 million and $35.1 million for the nine months ended September 30, 2020 and 2019, respectively.