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Goodwill and Acquired Intangible Assets (Tables) | 6 Months Ended
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Jul. 01, 2018
Changes in Carrying Amount of Goodwill by Segment | The changes in the carrying amount of goodwill by reportable segments for the six months ended July 1, 2018, were as follows:
|  | Wireless Test |  |  | Industrial Automation |  |  | System Test |  |  | Semiconductor Test |  |  | Total |
|  | (in thousands) |
Balance at December 31, 2017 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  | $ | 361,819 |  |  | $ | 233,519 |  |  | $ | 158,699 |  |  | $ | 260,540 |  |  | $ | 1,014,577 |
Accumulated impairment losses |  |  | (353,843 | ) |  |  | — |  |  |  | (148,183 | ) |  |  | (260,540 | ) |  |  | (762,566 | )
|  |  | 7,976 |  |  |  | 233,519 |  |  |  | 10,516 |  |  |  | — |  |  |  | 252,011 |
MiR acquisition |  |  | — |  |  |  | 135,747 |  |  |  | — |  |  |  | — |  |  |  | 135,747 |
Energid acquisition |  |  | — |  |  |  | 14,394 |  |  |  | — |  |  |  | — |  |  |  | 14,394 |
Foreign currency translation adjustment |  |  | — |  |  |  | (13,527 | ) |  |  | — |  |  |  | — |  |  |  | (13,527 | )
Balance at July 1, 2018 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 361,819 |  |  |  | 370,133 |  |  |  | 158,699 |  |  |  | 260,540 |  |  |  | 1,151,191 |
Accumulated impairment losses |  |  | (353,843 | ) |  |  | — |  |  |  | (148,183 | ) |  |  | (260,540 | ) |  |  | (762,566 | )
|  | $ | 7,976 |  |  | $ | 370,133 |  |  | $ | 10,516 |  |  | $ | — |  |  | $ | 388,625 |
Schedule of Estimated Intangible Asset Amortization Expense | Estimated intangible asset amortization expense for each of the five succeeding fiscal years is as follows:
Year |  | Amortization Expense |
|  | (in thousands) |
2018 (remainder) |  |  | 20,856 |
2019 |  |  | 37,891 |
2020 |  |  | 23,671 |
2021 |  |  | 14,734 |
2022 |  |  | 13,841 |
Thereafter |  |  | 37,180 |
Wireless Test |
Schedule of Amortizable Intangible Assets | Amortizable intangible assets consist of the following and are included in intangible assets, net on the balance sheet:
|  | July 1, 2018 |
|  | Gross Carrying Amount (1)(2) |  |  | Accumulated Amortization (2) |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
Developed technology |  | $ | 341,227 |  |  | $ | (236,924 | ) |  | $ | (2,687 | ) |  | $ | 101,616 |
Customer relationships |  |  | 100,891 |  |  |  | (86,509 | ) |  |  | (118 | ) |  |  | 14,264 |
Tradenames and trademarks |  |  | 63,240 |  |  |  | (30,530 | ) |  |  | (437 | ) |  |  | 32,273 |
Non-compete agreement |  |  | 320 |  |  |  | (300 | ) |  |  | — |  |  |  | 20 |
Backlog |  |  | 10 |  |  |  | (10 | ) |  |  | — |  |  |  | — |
Total intangible assets |  | $ | 505,688 |  |  | $ | (354,273 | ) |  | $ | (3,242 | ) |  | $ | 148,173 |
|  | December 31, 2017 |
|  | Gross Carrying Amount |  |  | Accumulated Amortization |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
Developed technology |  | $ | 270,877 |  |  | $ | (226,190 | ) |  | $ | 1,618 |  |  | $ | 46,305 |
Customer relationships |  |  | 92,741 |  |  |  | (83,585 | ) |  |  | 171 |  |  |  | 9,327 |
Tradenames and trademarks |  |  | 50,100 |  |  |  | (27,120 | ) |  |  | 416 |  |  |  | 23,396 |
Non-compete agreement |  |  | 320 |  |  |  | (260 | ) |  |  | — |  |  |  | 60 |
Total intangible assets |  | $ | 414,038 |  |  | $ | (337,155 | ) |  | $ | 2,205 |  |  | $ | 79,088 |
(1) | Includes intangible assets acquired in 2018, $79.7 million from the MiR acquisition and $12.3 million from the Energid acquisition.
(2) | In 2018, $0.3 million of amortizable intangible assets became fully amortized and have been eliminated from the gross carrying amount and accumulated amortization.

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