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Intangible Assets (Tables) | 9 Months Ended
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Sep. 28, 2019
Goodwill and Intangible Assets Disclosure [Abstract] |
Schedule of Finite-Lived Intangible Assets | Intangible assets, net, consist of the following (in thousands):
| September 28, 2019 |  | December 29, 2018
Patents | $ | 22,781 |  |  | $ | 21,323 |
Customer relationships | 7,669 |  |  | 7,669 |
Licenses-related party | 7,500 |  |  | 7,500 |
Acquired technology | 5,580 |  |  | 5,580 |
Trademarks | 4,558 |  |  | 4,190 |
Capitalized software development costs | 3,436 |  |  | 3,430 |
Other | 5,467 |  |  | 5,466 |
Total intangible assets | 56,991 |  |  | 55,158 |
Accumulated amortization | (29,559 | ) |  | (27,234 | )
Intangible assets, net | $ | 27,432 |  |  | $ | 27,924 |
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense | Estimated amortization expense for each of the next fiscal years is as follows (in thousands):
Fiscal year | Amount
2019 (balance of year) | $ | 4,417 |
2020 | 4,015 |
2021 | 3,572 |
2022 | 2,308 |
2023 | 1,838 |
Thereafter | 11,282 |
Total | $ | 27,432 |

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