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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 | Note 6: Goodwill and Intangible Assets Goodwill Goodwill is tested for impairment at the reporting unit level, which is one level below the Company's operating segments. The Company performed qualitative assessments for the annual impairment analysis during the fourth quarters of 2019 and 2018 and concluded that it is more likely than not that the fair value of its reporting units exceed their carrying amounts and a quantitative impairment test was not required. The following table summarizes goodwill by operating and reportable segments (in millions):
|  | As of December 31, 2019 |  |  |  |  |  |  |  | As of December 31, 2018 |  |  |  |  |  |  |  | As of December 31, 2017 |  |  |  |  |  |
|  | Goodwill |  | Accumulated Impairment Losses |  |  |  | Carrying Value |  | Goodwill |  | Accumulated Impairment Losses |  |  |  | Carrying Value |  | Goodwill |  | Accumulated Impairment Losses |  |  |  | Carrying Value
Operating and Reportable Segments: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
ASG |  | $ | 1,563.4 |  |  | $ | (418.9) |  |  |  |  | $ | 1,144.5 |  |  | $ | 836.7 |  |  | $ | (418.9) |  |  |  |  | $ | 417.8 |  |  | $ | 836.7 |  |  | $ | (418.9) |  |  |  |  | $ | 417.8 |
ISG |  | 114.4 |  |  | — |  |  |  |  | 114.4 |  |  | 114.4 |  |  | — |  |  |  |  | 114.4 |  |  | 95.5 |  |  | — |  |  |  |  | 95.5 |
PSG |  | 432.2 |  |  | (31.9) |  |  |  |  | 400.3 |  |  | 432.2 |  |  | (31.9) |  |  |  |  | 400.3 |  |  | 432.2 |  |  | (28.6) |  |  |  |  | 403.6 |
Total |  | $ | 2,110.0 |  |  | $ | (450.8) |  |  |  |  | $ | 1,659.2 |  |  | $ | 1,383.3 |  |  | $ | (450.8) |  |  |  |  | $ | 932.5 |  |  | $ | 1,364.4 |  |  | $ | (447.5) |  |  |  |  | $ | 916.9 |
The following table summarizes the change in goodwill (in millions):
Net balance as of December 31, 2017 |  | $ | 916.9 |
Addition due to business combination |  | 18.9 |
Goodwill impairment |  | (3.3) |
Net balance as of December 31, 2018 |  | 932.5 |
Addition due to business combination |  | 726.7 |
Net balance as of December 31, 2019 |  | $ | 1,659.2 |
The goodwill impairment charge of $3.3 million in 2018 was the result of the licensing transaction with QST and represented the entire goodwill assigned to a reporting unit within PSG. Intangible Assets Intangible assets, net, were as follows (in millions):
| As of December 31, 2019 |  |  |  |  |  |  |  |  |  |
| Original Cost |  | Accumulated Amortization |  |  |  | Accumulated Impairment Losses |  | Carrying Value |  |
Customer relationships | $ | 585.2 |  |  | $ | (386.8) |  |  |  |  | $ | (20.1) |  |  | $ | 178.3 |  |  |
Developed technology | 779.5 |  |  | (440.3) |  |  |  |  | (2.6) |  |  | 336.6 |  |  |
IPRD | 64.7 |  |  | — |  |  |  |  | (24.1) |  |  | 40.6 |  |  |
Licenses | 30.0 |  |  | — |  |  |  |  | — |  |  | 30.0 |  |  |
Other intangibles | 79.3 |  |  | (59.1) |  |  |  |  | (15.2) |  |  | 5.0 |  |  |
Total intangible assets | $ | 1,538.7 |  |  | $ | (886.2) |  |  |  |  | $ | (62.0) |  |  | $ | 590.5 |  |  |
| As of December 31, 2018 |  |  |  |  |  |  |  |  |  |
| Original Cost |  | Accumulated Amortization |  |  |  | Accumulated Impairment Losses |  | Carrying Value |  |
Customer relationships | $ | 556.7 |  |  | $ | (359.1) |  |  |  |  | $ | (20.1) |  |  | $ | 177.5 |  |  |
Developed technology | 698.0 |  |  | (356.4) |  |  |  |  | (2.6) |  |  | 339.0 |  |  |
IPRD | 64.1 |  |  | — |  |  |  |  | (22.5) |  |  | 41.6 |  |  |
Other intangibles | 82.3 |  |  | (58.8) |  |  |  |  | (15.2) |  |  | 8.3 |  |  |
Total intangible assets | $ | 1,401.1 |  |  | $ | (774.3) |  |  |  |  | $ | (60.4) |  |  | $ | 566.4 |  |  |
During the year ended December 31, 2019, the Company abandoned two previously capitalized IPRD projects under ISG and recorded aggregate impairment losses in the amount of $1.6 million. The Company also completed certain of its IPRD projects resulting in the reclassification of $23.2 million from IPRD to developed technology. During the year ended December 31, 2018, the Company determined that the value of one of its IPRD projects under ISG was impaired and recorded a charge of $3.5 million. The Company also completed certain of its IPRD projects resulting in the reclassification of $10.4 million from IPRD to developed technology. During the year ended December 31, 2017, the Company recorded impairment charges of $13.1 million related to cancellation and impairment of certain of its previously capitalized IPRD projects under PSG and ASG. The Company also completed certain of its IPRD projects, resulting in the reclassification of $99.4 million from IPRD to developed technology and disposed of $8.7 million of intangible assets as part of the Xsens Transaction. Amortization expense for intangible assets for the years ended December 31, 2019, 2018 and 2017 amounted to $115.2 million, $111.7 million and $123.8 million, respectively. Amortization expense for intangible assets, with the exception of the $40.6 million of IPRD assets that will be amortized once the corresponding projects have been completed, is expected to be as follows over the next five years, and thereafter (in millions):
| Total
2020 | $ | 116.5 |
2021 | 94.9 |
2022 | 80.6 |
2023 | 63.2 |
2024 | 52.1 |
Thereafter | 142.6 |
Total estimated amortization expense | $ | 549.9 |

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