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Goodwill and Acquired Intangible Assets (Tables) | 3 Months Ended
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Mar. 31, 2024
Changes in Carrying Amount of Goodwill by Segment | The changes in the carrying amount of goodwill by reportable segments for the three months ended March 31, 2024, were as follows:
|  | Robotics |  |  | Wireless Test |  |  | Semiconductor Test |  |  | System Test |  |  | Total |
|  | (in thousands) |
Balance at December 31, 2023 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  | $ | 395,463 |  |  | $ | 361,819 |  |  | $ | 262,237 |  |  | $ | 158,699 |  |  | $ | 1,178,218 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
Total Goodwill |  |  | 395,463 |  |  |  | 7,976 |  |  |  | 1,697 |  |  |  | 10,516 |  |  |  | 415,652 |
Foreign currency translation adjustment |  |  | (7,962 | ) |  |  | — |  |  |  | (114 | ) |  |  | — |  |  |  | (8,076 | )
Balance at March 31, 2024 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Goodwill |  | $ | 387,502 |  |  | $ | 361,819 |  |  | $ | 262,123 |  |  | $ | 158,699 |  |  |  | 1,170,142 |
Accumulated impairment losses |  |  | — |  |  |  | (353,843 | ) |  |  | (260,540 | ) |  |  | (148,183 | ) |  |  | (762,566 | )
Total Goodwill |  | $ | 387,502 |  |  | $ | 7,976 |  |  | $ | 1,583 |  |  | $ | 10,516 |  |  | $ | 407,576 |
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 March 31, 2024 |  |  |  |  |  |  |  |  |  |  |  |
Developed technology |  | $ | 267,706 |  |  | $ | (246,266 | ) |  | $ | (5,635 | ) |  | $ | 15,805 |
Customer relationships |  |  | 52,109 |  |  |  | (48,278 | ) |  |  | 203 |  |  |  | 4,034 |
Tradenames and trademarks |  |  | 59,007 |  |  |  | (47,231 | ) |  |  | (1,381 | ) |  |  | 10,395 |
Total intangible assets |  | $ | 378,822 |  |  | $ | (341,775 | ) |  | $ | (6,813 | ) |  | $ | 30,234 |
Balance at December 31, 2023 |  |  |  |  |  |  |  |  |  |  |  |
Developed technology |  | $ | 267,706 |  |  | $ | (243,191 | ) |  | $ | (5,343 | ) |  | $ | 19,172 |
Customer relationships |  |  | 52,109 |  |  |  | (47,850 | ) |  |  | 232 |  |  |  | 4,491 |
Tradenames and trademarks |  |  | 59,007 |  |  |  | (46,021 | ) |  |  | (1,245 | ) |  |  | 11,741 |
Total intangible assets |  | $ | 378,822 |  |  | $ | (337,062 | ) |  | $ | (6,356 | ) |  | $ | 35,404 |
Schedule of Estimated Intangible Assets Amortization Expense | Estimated intangible asset amortization expense for each of the five succeeding fiscal years and thereafter is as follows:
Year |  | Amortization Expense |
|  | (in thousands) |
2024 |  | $ | 14,010 |
2025 |  |  | 11,290 |
2026 |  |  | 2,364 |
2027 |  |  | 1,148 |
2028 |  |  | 1,066 |
Thereafter |  |  | 356 |

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