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Goodwill and Intangible Assets (Tables) | 12 Months Ended
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Dec. 31, 2020
Changes in Carrying Amount of Goodwill by Segment | The changes in the carrying amount of goodwill by reportable segments for the years ended December 31, 2020 and 2019 are as follows:
|  | Industrial Automation |  |  | Wireless Test |  |  | Semiconductor Test |  |  | System Test |  |  | Total |
|  | (in thousands) |
Balance at December 31, 2018: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  | $ | 363,358 |  |  | $ | 361,819 |  |  | $ | 260,540 |  |  | $ | 158,699 |  |  | $ | 1,144,416 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
|  |  | 363,358 |  |  |  | 7,976 |  |  |  | — |  |  |  | 10,516 |  |  |  | 381,850 |
Lemsys acquisition |  |  | — |  |  |  | — |  |  |  | 1,428 |  |  |  | — |  |  |  | 1,428 |
AutoGuide acquisition |  |  | 41,372 |  |  |  | — |  |  |  | — |  |  |  | — |  |  |  | 41,372 |
Foreign currency translation adjustment |  |  | (8,247 | ) |  |  | — |  |  |  | 28 |  |  |  | — |  |  |  | (8,219 | )
Balance at December 31, 2019: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 396,483 |  |  |  | 361,819 |  |  |  | 261,996 |  |  |  | 158,699 |  |  |  | 1,178,997 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
|  |  | 396,483 |  |  |  | 7,976 |  |  |  | 1,456 |  |  |  | 10,516 |  |  |  | 416,431 |
AutoGuide acquisition |  |  | (149 | ) |  |  | — |  |  |  | — |  |  |  | — |  |  |  | (149 | )
Foreign currency translation adjustment |  |  | 37,418 |  |  |  | — |  |  |  | 159 |  |  |  | — |  |  |  | 37,577 |
Balance at December 31, 2020: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 433,752 |  |  |  | 361,819 |  |  |  | 262,155 |  |  |  | 158,699 |  |  |  | 1,216,425 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
|  | $ | 433,752 |  |  | $ | 7,976 |  |  | $ | 1,615 |  |  | $ | 10,516 |  |  | $ | 453,859 |
Intangible Assets
Schedule of Estimated Intangible Assets Amortization Expense | Estimated intangible assets amortization expense for each of the five succeeding fiscal years is as follows:
Year |  | Amortization Expense |
|  | (in thousands) |
2021 |  | $ | 21,893 |
2022 |  |  | 21,000 |
2023 |  |  | 20,504 |
2024 |  |  | 20,192 |
2025 |  |  | 11,922 |
Thereafter |  |  | 5,428 |
Wireless Test |
Schedule of Amortizable Intangible Assets | Amortizable intangible assets consist of the following and are included in intangible assets, net on the balance sheets:
|  | December 31, 2020 |
|  | Gross Carrying Amount (1) |  |  | Accumulated Amortization (1) |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
Developed technology |  | $ | 272,547 |  |  | $ | (210,479 | ) |  | $ | (1,610 | ) |  | $ | 60,458 |
Customer relationships |  |  | 66,239 |  |  |  | (54,524 | ) |  |  | 305 |  |  |  | 12,020 |
Tradenames and trademarks |  |  | 70,120 |  |  |  | (42,344 | ) |  |  | 685 |  |  |  | 28,461 |
Total intangible assets |  | $ | 408,906 |  |  | $ | (307,347 | ) |  | $ | (620 | ) |  | $ | 100,939 |
|  | December 31, 2019 |
|  | Gross Carrying Amount |  |  | Accumulated Amortization |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
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 |
(1) | In 2020, $98.9 million of amortizable intangible assets became fully amortized and have been eliminated from the gross carrying amount and accumulated amortization.

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