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Goodwill and Acquired Intangible Assets (Tables) | 6 Months Ended
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Jun. 28, 2020
Changes in Carrying Amount of Goodwill by Segment | The changes in the carrying amount of goodwill by reportable segments for the six months ended June 28, 2020, were as follows:
|  | Industrial Automation |  |  | System Test |  |  | Wireless Test |  |  | Semiconductor Test |  |  | Total |
|  | (in thousands) |
Balance at December 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  | $ | 396,483 |  |  | $ | 158,699 |  |  | $ | 361,819 |  |  | $ | 261,996 |  |  | $ | 1,178,997 |
Accumulated impairment losses |  |  | — |  |  |  | (148,183 | ) |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (762,566 | )
|  |  | 396,483 |  |  |  | 10,516 |  |  |  | 7,976 |  |  |  | 1,456 |  |  |  | 416,431 |
AutoGuide acquisition |  |  | (149 | ) |  |  | — |  |  |  | — |  |  |  | — |  |  |  | (149 | )
Foreign currency translation adjustment |  |  | 5,671 |  |  |  | — |  |  |  | — |  |  |  | 50 |  |  |  | 5,721 |
Balance at June 28, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 402,005 |  |  |  | 158,699 |  |  |  | 361,819 |  |  |  | 262,046 |  |  |  | 1,184,569 |
Accumulated impairment losses |  |  | — |  |  |  | (148,183 | ) |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (762,566 | )
|  | $ | 402,005 |  |  | $ | 10,516 |  |  | $ | 7,976 |  |  | $ | 1,506 |  |  | $ | 422,003 |
Schedule of Estimated Intangible Assets Amortization Expense | Estimated intangible asset amortization expense for each of the five succeeding fiscal years is as follows:
Year |  | Amortization Expense |
|  | (in thousands) |
2020 (remainder) |  |  | 11,721 |
2021 |  |  | 20,804 |
2022 |  |  | 19,911 |
2023 |  |  | 19,430 |
2024 |  |  | 19,123 |
Thereafter |  |  | 16,574 |
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:
|  | Gross Carrying Amount |  |  | Accumulated Amortization |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
Balance at June 28, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Developed technology |  | $ | 361,787 |  |  | $ | (292,394 | ) |  | $ | (5,095 | ) |  | $ | 64,298 |
Customer relationships |  |  | 75,669 |  |  |  | (61,730 | ) |  |  | (295 | ) |  |  | 13,644 |
Tradenames and trademarks |  |  | 70,120 |  |  |  | (39,457 | ) |  |  | (1,042 | ) |  |  | 29,621 |
Total intangible assets |  | $ | 507,576 |  |  | $ | (393,581 | ) |  | $ | (6,432 | ) |  | $ | 107,563 |
Balance at December 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Developed technology |  | $ | 361,787 |  |  | $ | (279,000 | ) |  | $ | (5,709 | ) |  | $ | 77,078 |
Customer relationships |  |  | 75,669 |  |  |  | (59,077 | ) |  |  | (455 | ) |  |  | 16,137 |
Tradenames and trademarks |  |  | 70,120 |  |  |  | (36,671 | ) |  |  | (1,184 | ) |  |  | 32,265 |
Backlog |  |  | 260 |  |  |  | (260 | ) |  |  | — |  |  |  | — |
Total intangible assets |  | $ | 507,836 |  |  | $ | (375,008 | ) |  | $ | (7,348 | ) |  | $ | 125,480 |

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