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Goodwill and Intangible Assets | 12 Months Ended
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Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract] |
Goodwill and Intangible Assets | Goodwill and Intangible Assets The changes in the carrying amount of goodwill for the year ended December 31, 2019 were as follows (in thousands):
| TASER |  | Software and Sensors |  | Total
Balance, December 31, 2018 | $ | 1,338 |  |  | $ | 23,643 |  |  | $ | 24,981 |
Foreign currency translation adjustments | 16 |  |  | 16 |  |  | 32 |
Balance, December 31, 2019 | $ | 1,354 |  |  | $ | 23,659 |  |  | $ | 25,013 |
Intangible assets (other than goodwill) consisted of the following (in thousands):
|  |  | December 31, 2019 |  | December 31, 2018
| Useful Life |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Carrying Amount |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Carrying Amount
Amortizable (definite-lived) intangible assets: |  |  |  |  |  |  |  |  |  |  |  |  |
Domain names | 5-10 years |  | $ | 3,161 |  |  | $ | (1,035 | ) |  | $ | 2,126 |  |  | $ | 3,161 |  |  | $ | (732 | ) |  | $ | 2,429 |
Issued patents | 5-25 years |  | 3,271 |  |  | (1,339 | ) |  | 1,932 |  |  | 2,940 |  |  | (1,106 | ) |  | 1,834 |
Issued trademarks | 3-15 years |  | 1,166 |  |  | (678 | ) |  | 488 |  |  | 1,053 |  |  | (599 | ) |  | 454 |
Customer relationships | 4-8 years |  | 3,721 |  |  | (1,416 | ) |  | 2,305 |  |  | 3,701 |  |  | (880 | ) |  | 2,821 |
Non-compete agreements | 3-4 years |  | 450 |  |  | (404 | ) |  | 46 |  |  | 540 |  |  | (439 | ) |  | 101 |
Developed technology | 3-5 years |  | 10,660 |  |  | (6,528 | ) |  | 4,132 |  |  | 13,404 |  |  | (7,081 | ) |  | 6,323 |
Re-acquired distribution rights | 2 years |  | 2,009 |  |  | (2,009 | ) |  | — |  |  | 1,928 |  |  | (1,813 | ) |  | 115 |
Total amortizable |  |  | 24,438 |  |  | (13,409 | ) |  | 11,029 |  |  | 26,727 |  |  | (12,650 | ) |  | 14,077 |
Non-amortizable (indefinite-lived) intangible assets: |  |  |  |  |  |  |  |  |  |  |  |  |
TASER trademark |  |  | 900 |  |  |  |  | 900 |  |  | 900 |  |  |  |  | 900 |
Patents and trademarks pending |  |  | 842 |  |  |  |  | 842 |  |  | 958 |  |  |  |  | 958 |
Total non-amortizable |  |  | 1,742 |  |  |  |  | 1,742 |  |  | 1,858 |  |  |  |  | 1,858 |
Total intangible assets |  |  | $ | 26,180 |  |  | $ | (13,409 | ) |  | $ | 12,771 |  |  | $ | 28,585 |  |  | $ | (12,650 | ) |  | $ | 15,935 |
Amortization expense of intangible assets was $3.5 million, $5.7 million and $4.7 million for the years ended December 31, 2019, 2018 and 2017, respectively. Estimated amortization for intangible assets with definitive lives for the next five years ended December 31, and thereafter, is as follows (in thousands):
2020 | $ | 3,316 |
2021 | 2,868 |
2022 | 1,266 |
2023 | 971 |
2024 | 887 |
Thereafter | 1,721 |
Total | $ | 11,029 |

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- Definition The entire disclosure for goodwill and intangible assets. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 350 -URI http://asc.fasb.org/topic&trid=2144416 + Details
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