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Goodwill and Intangible Assets (Tables)
12 Months Ended
Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]  
Summary of Goodwill by Operating Segment
The following table summarizes goodwill by operating and reportable segments (in millions):

 As of December 31, 2020As of December 31, 2019As of December 31, 2018
GoodwillAccumulated Impairment LossesCarrying ValueGoodwillAccumulated Impairment LossesCarrying ValueGoodwillAccumulated Impairment LossesCarrying Value
Operating and Reportable Segments:
ASG$1,566.3 $(418.9)$1,147.4 $1,563.4 $(418.9)$1,144.5 $836.7 $(418.9)$417.8 
ISG114.7 — 114.7 114.4 — 114.4 114.4 — 114.4 
PSG433.2 (31.9)401.3 432.2 (31.9)400.3 432.2 (31.9)400.3 
Total$2,114.2 $(450.8)$1,663.4 $2,110.0 $(450.8)$1,659.2 $1,383.3 $(450.8)$932.5 
Schedule of Change in Goodwill
The following table summarizes the change in goodwill (in millions):
Net balance as of December 31, 2018$932.5 
Addition due to business combination726.7 
Net balance as of December 31, 20191,659.2 
Addition due to business combination4.2 
Net balance as of December 31, 2020$1,663.4 
Summary of Intangible Assets, Net
Intangible assets, net, were as follows (in millions):
 As of December 31, 2020
 Original
Cost
Accumulated
Amortization
Accumulated Impairment LossesCarrying
Value
Customer relationships$581.5 $(411.7)$(17.6)$152.2 
Developed technology794.7 (532.9)(2.6)259.2 
IPRD49.5 — (25.4)24.1 
Licenses30.0 — — 30.0 
Other intangibles79.3 (60.6)(15.2)3.5 
        Total intangible assets$1,535.0 $(1,005.2)$(60.8)$469.0 

 As of December 31, 2019
 Original
Cost
Accumulated
Amortization
Accumulated Impairment LossesCarrying
Value
Customer relationships$585.2 $(386.8)$(20.1)$178.3 
Developed technology779.5 (440.3)(2.6)336.6 
IPRD64.7 — (24.1)40.6 
Licenses30.0 — — 30.0 
Other intangibles79.3 (59.1)(15.2)5.0 
        Total intangible assets$1,538.7 $(886.2)$(62.0)$590.5 
Summary of Amortization Expense Amortization expense for intangible assets, with the exception of the $24.1 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
2021$99.2 
202283.8 
202365.9 
202454.1 
202541.1 
Thereafter100.8 
Total estimated amortization expense$444.9