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Goodwill and Acquired Intangible Assets (Tables) | 9 Months Ended
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Sep. 27, 2020
Changes in Carrying Amount of Goodwill by Segment | The changes in the carrying amount of goodwill by reportable segments for the nine months ended September 27, 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 |  |  | 18,881 |  |  |  | — |  |  |  | — |  |  |  | 89 |  |  |  | 18,970 |
Balance at September 27, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 415,215 |  |  |  | 158,699 |  |  |  | 361,819 |  |  |  | 262,085 |  |  |  | 1,197,818 |
Accumulated impairment losses |  |  | — |  |  |  | (148,183 | ) |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (762,566 | )
|  | $ | 415,215 |  |  | $ | 10,516 |  |  | $ | 7,976 |  |  | $ | 1,545 |  |  | $ | 435,252 |
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) |  |  | 5,721 |
2021 |  |  | 21,254 |
2022 |  |  | 20,361 |
2023 |  |  | 19,874 |
2024 |  |  | 19,565 |
Thereafter |  |  | 16,897 |
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 September 27, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Developed technology |  | $ | 361,787 |  |  | $ | (295,801 | ) |  | $ | (3,806 | ) |  | $ | 62,180 |
Customer relationships |  |  | 75,669 |  |  |  | (63,107 | ) |  |  | (42 | ) |  |  | 12,520 |
Tradenames and trademarks |  |  | 70,120 |  |  |  | (40,891 | ) |  |  | (257 | ) |  |  | 28,972 |
Total intangible assets |  | $ | 507,576 |  |  | $ | (399,799 | ) |  | $ | (4,105 | ) |  | $ | 103,672 |
Balance, 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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