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Intangible Assets
 9 Months Ended
Sep. 28, 2019
Goodwill and Intangible Assets Disclosure [Abstract]  
Intangible Assets
10. 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


Total amortization expense for the three months ended September 28, 2019 and September 29, 2018 was $1.1 million and $1.2 million, respectively. Total amortization expense for the nine months ended September 28, 2019 and September 29, 2018  was $3.3 million and $3.9 million, respectively. All of these intangible assets have a ten year weighted average amortization period.
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