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Goodwill and Intangible Assets, net
6 Months Ended
Jun. 30, 2020
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets, net Intangible Assets and Software, net
The following table presents certain information regarding our intangible assets and software:
Gross
Carrying
Amount
Accumulated
Amortization
Net
Balance
Balance as of June 30, 2020
Intellectual property$39.9  $(34.2) $5.7  
Customer relationships30.0  (18.6) 11.4  
Software19.2  (12.2) 7.0  
Licenses5.3  (2.8) 2.5  
Brand names5.7  (3.4) 2.3  
Total intangible assets and software$100.1  $(71.2) $28.9  
Balance as of December 31, 2019
Intellectual property$35.4  $(33.4) $2.0  
Customer relationships23.2  (18.0) 5.2  
Software16.8  (10.3) 6.5  
Licenses5.1  (2.4) 2.7  
Brand names3.9  (3.3) 0.6  
Total intangible assets and software$84.4  $(67.4) $17.0  

The following reflects amortization expense related to intangible assets and software included within depreciation and amortization:
Three Months EndedSix Months Ended
June 30,June 30,
2020201920202019
Amortization expense
$1.8  $1.5  $3.5  $3.1