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Goodwill and Intangible Assets
 12 Months Ended
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets
6. Goodwill and Intangible Assets

The following table summarizes goodwill balances as of December 31, 2022 and 2021 (in thousands):

Carrying Amount
Balance as of December 31, 2020
$4,862 
Goodwill acquired, net of measurement period adjustments24,521 
Foreign currency translation adjustments(1,588)
Balance as of December 31, 2021
$27,795 
Goodwill acquired— 
Foreign currency translation adjustments(1,446)
Balance as of December 31, 2022
$26,349 
Intangible assets, net consisted of the following as of December 31, 2022 and 2021 (in thousands):

As of December 31,
20222021
Developed technology$6,893 $7,271 
Customer relationships - Non-Robotic Process Automation (“RPA”)827 872 
Customer relationships - RPA246 261 
Intangible assets, gross7,966 8,404 
Less: Accumulated amortization(2,715)(1,260)
Intangible assets, net$5,251 $7,144 

Intangible amortization expense was $1.5 million, $0.8 million, and $0.4 million for the years ended December 31, 2022, 2021, and 2020, respectively. As of December 31, 2022, the weighted average remaining amortization periods for developed technology, non-RPA customer relationships, and RPA customer relationships were approximately 3.4 years, 8.7 years, and 7.0 years, respectively.

The projected annual amortization expense related to amortizable intangible assets as of December 31, 2022 is as follows (in thousands):

Year Ended December 31,
2023$1,471 
20241,471 
20251,170 
2026753 
202792 
Thereafter294 
Total projected amortization expense$5,251