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Goodwill and Intangible Assets
 12 Months Ended
Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract]  
Goodwill and Intangible Assets
5. Goodwill and Intangible Assets

The following table details the changes in goodwill during the fiscal years ended December 31, 2023 and 2022 (in thousands):

Carrying Amount
Balance as of December 31, 2021
$27,795 
Foreign currency translation adjustments(1,446)
Balance as of December 31, 2022
$26,349 
Foreign currency translation adjustments757 
Balance as of December 31, 2023
$27,106 

Intangible assets, net consisted of the following as of December 31, 2023 and 2022 (in thousands):

As of December 31,
20232022
Developed technology$7,091 $6,893 
Customer relationships
950 1,073 
Intangible assets, gross8,041 7,966 
Less: Accumulated amortization(4,152)(2,715)
Intangible assets, net$3,889 $5,251 

Intangible amortization expense was $1.5 million, $1.5 million, and $0.8 million for the years ended December 31, 2023, 2022, and 2021, respectively. As of December 31, 2023, the weighted average remaining amortization periods for developed technology and customer relationships were approximately 2.5 years and 7.3 years, respectively.

The following table shows the projected annual amortization expense related to amortizable intangible assets as of December 31, 2023 (in thousands):

Year Ended December 31,
2024$1,513 
20251,204 
2026775 
202795 
202895 
Thereafter207 
Total projected amortization expense$3,889