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Intangible Assets
 12 Months Ended
Dec. 28, 2019
Goodwill and Intangible Assets Disclosure [Abstract]  
Intangible Assets
10. Intangible Assets
Intangible assets, net consist of the following (in thousands):
 
December 28,
2019
 
December 29,
2018
Cost
 
 
 
Patents
$
23,242

 
$
21,323

Customer relationships
7,669

 
7,669

Licenses-related party
7,500

 
7,500

Acquired technology
5,580

 
5,580

Trademarks
4,614

 
4,190

Capitalized software development costs
3,328

 
3,430

Other
5,466

 
5,466

Total cost
$
57,399

 
$
55,158

Accumulated amortization
 
 
 
Patents
$
(9,251
)
 
$
(8,868
)
Licenses-related party
(5,984
)
 
(5,252
)
Customer relationships
(5,688
)
 
(4,921
)
Acquired technology
(4,182
)
 
(3,624
)
Trademarks
(2,195
)
 
(1,889
)
Capitalized software development costs
(2,137
)
 
(1,983
)
Other
(711
)
 
(697
)
Total accumulated amortization
(30,148
)
 
(27,234
)
Net carrying amount
$
27,251

 
$
27,924


Estimated amortization expense for each of the next fiscal years is as follows (in thousands):
Fiscal year
Amount
2020
$
4,172

2021
3,926

2022
3,199

2023
2,097

2024
1,768

Thereafter
12,089

Total
$
27,251


For the years ended December 28, 2019, December 29, 2018 and December 30, 2017, amortization of intangible assets was $4.4 million, $4.8 million and $4.9 million, respectively. As of December 28, 2019 and December 29, 2018, the total costs of patents not yet amortizing was $6.1 million and $5.3 million, respectively. As of December 28, 2019 and December 29, 2018, the total costs of trademarks not yet amortizing was $0.7 million and $0.5 million, respectively. For the years ended December 28, 2019 and December 29, 2018, total renewal costs capitalized for patents and trademarks was $1.3 million and $0.5 million, respectively. As of December 28, 2019, the weighted-average number of years until the next renewal was two years for patents and six years for trademarks.