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Goodwill and Intangible Assets
 9 Months Ended
Sep. 30, 2022
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets
6. Goodwill and Intangible Assets

Goodwill was comprised of the following as of September 30, 2022 and December 31, 2021 (in thousands):

Carrying Amount
Balance as of December 31, 2020
$4,862 
Goodwill acquired24,521 
Foreign currency translation adjustments(1,588)
Balance as of December 31, 2021
27,795 
Goodwill acquired— 
Foreign currency translation adjustments(3,750)
Balance as of September 30, 2022
$24,045 

Intangible assets, net consisted of the following as of September 30, 2022 and December 31, 2021 (in thousands):

As of
September 30, 2022December 31, 2021
Developed technology$6,290 $7,271 
Customer relationships - Non-Robotic Process Automation (“RPA”)754 872 
Customer relationships - RPA226 261 
Intangible assets, gross7,270 8,404 
Less: accumulated amortization(2,131)(1,260)
Intangible assets, net$5,139 $7,144 

Intangible amortization expense was $0.4 million and $1.1 million for the three and nine months ended September 30, 2022, respectively. Intangible amortization expense was $0.3 million and $0.5 million for the three and nine months ended September 30, 2021, respectively. As of September 30, 2022, the weighted average remaining amortization periods for developed technology, non-RPA customer relationships, and RPA customer relationships were approximately 3.7 years, 8.7 years, and 7.3 years, respectively.

The projected annual amortization expense related to amortizable intangible assets as of September 30, 2022 is as follows (in thousands):

Projected Amortization
2022 (excluding the nine months ended September 30, 2022)
$347 
20231,342 
20241,342 
20251,068 
2026687 
202784 
Thereafter269 
Total projected amortization expense$5,139