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Goodwill and Intangible Assets (Tables) | 12 Months Ended
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Dec. 31, 2022
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, 2022 and 2021 are as follows:
|  | Robotics |  |  | Wireless Test |  |  | Semiconductor Test |  |  | System Test |  |  | Total |
|  |  |  |  |  |  |  | (in thousands) |  |  |  |  |  |  |
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 |
Foreign currency translation adjustment |  |  | (27,781 | ) |  |  | — |  |  |  | (54 | ) |  |  | — |  |  |  | (27,835 | )
Balance at December 31, 2021: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 405,971 |  |  |  | 361,819 |  |  |  | 262,101 |  |  |  | 158,699 |  |  |  | 1,188,590 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
|  |  | 405,971 |  |  |  | 7,976 |  |  |  | 1,561 |  |  |  | 10,516 |  |  |  | 426,024 |
Foreign currency translation adjustment |  |  | (22,805 | ) |  |  | — |  |  |  | (24 | ) |  |  | — |  |  |  | (22,829 | )
Balance at December 31, 2022: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  |  | 383,166 |  |  |  | 361,819 |  |  |  | 262,077 |  |  |  | 158,699 |  |  |  | 1,165,761 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
|  | $ | 383,166 |  |  | $ | 7,976 |  |  | $ | 1,537 |  |  | $ | 10,516 |  |  | $ | 403,195 |
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, 2022 |
|  | Gross Carrying Amount (1) |  |  | Accumulated Amortization (1) |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
Developed technology |  | $ | 270,967 |  |  | $ | (234,208 | ) |  | $ | (5,935 | ) |  | $ | 30,824 |
Customer relationships |  |  | 57,739 |  |  |  | (51,186 | ) |  |  | 172 |  |  |  | 6,725 |
Tradenames and trademarks |  |  | 59,387 |  |  |  | (41,930 | ) |  |  | (1,528 | ) |  |  | 15,929 |
Total intangible assets |  | $ | 388,093 |  |  | $ | (327,324 | ) |  | $ | (7,291 | ) |  | $ | 53,478 |
|  | December 31, 2021 |
|  | Gross Carrying Amount |  |  | Accumulated Amortization |  |  | Foreign Currency Translation Adjustment |  |  | Net Carrying Amount |
|  | (in thousands) |
Developed technology |  | $ | 272,547 |  |  | $ | (223,413 | ) |  | $ | (4,093 | ) |  | $ | 45,041 |
Customer relationships |  |  | 57,739 |  |  |  | (48,921 | ) |  |  | 209 |  |  |  | 9,027 |
Tradenames and trademarks |  |  | 59,387 |  |  |  | (37,237 | ) |  |  | (583 | ) |  |  | 21,567 |
Total intangible assets |  | $ | 389,673 |  |  | $ | (309,571 | ) |  | $ | (4,467 | ) |  | $ | 75,635 |
(1) | In 2022, $1.6 million of amortizable intangible assets became fully amortized and have been eliminated from the gross carrying amount and accumulated amortization.
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) |
2023 |  | $ | 18,835 |
2024 |  |  | 18,527 |
2025 |  |  | 11,230 |
2026 |  |  | 2,350 |
2027 |  |  | 1,134 |
Thereafter |  |  | 1,402 |

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