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Goodwill and Intangible Assets | 12 Months Ended
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Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract] |
Goodwill and Intangible Assets | (8) Goodwill and Intangibles Goodwill was $536.4 million and $515.6 million as of December 31, 2023 and December 31, 2022, respectively. There were no goodwill impairment charges in 2023, 2022 or 2021. The following table displays the changes in the gross carrying amount of goodwill:
| Amount
| (in thousands)
Balance at December 31, 2021 | $ | 515,258 |
IntSights acquisition adjustments | 373 |
Balance at December 31, 2022 | $ | 515,631 |
Minerva acquisition | 20,720 |
Balance at December 31, 2023 | $ | 536,351 |
The following table presents details of our intangible assets which include acquired identifiable intangible assets and capitalized internal-use software costs:
| Weighted- Average Estimated Useful Life (years) |  | As of December 31, 2023 |  | As of December 31, 2022
|  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Book Value |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Book Value
|  |  | (in thousands)
Intangible assets subject to amortization: |  |  |  |  |  |  |  |  |  |  |  |  |
Developed technology | 5.4 |  | $ | 135,355 |  |  | $ | (77,031) |  |  | $ | 58,324 |  |  | $ | 122,555 |  |  | $ | (58,645) |  |  | $ | 63,910 |
Customer relationships | 4.5 |  | 12,000 |  |  | (7,755) |  |  | 4,245 |  |  | 12,000 |  |  | (5,146) |  |  | 6,854 |
Trade names | 3.1 |  | 2,619 |  |  | (2,379) |  |  | 240 |  |  | 2,619 |  |  | (1,874) |  |  | 745 |
Total acquired intangible assets |  |  | $ | 149,974 |  |  | $ | (87,164) |  |  | $ | 62,810 |  |  | $ | 137,174 |  |  | $ | (65,665) |  |  | $ | 71,509 |
Internal-use software | 3.0 |  | 55,371 |  |  | (23,635) |  |  | 31,736 |  |  | 43,002 |  |  | (13,242) |  |  | 29,760 |
Total intangible assets |  |  | $ | 205,345 |  |  | $ | (110,799) |  |  | $ | 94,546 |  |  | $ | 180,176 |  |  | $ | (78,907) |  |  | $ | 101,269 |
Intangible assets are expensed on a straight-line basis over the useful life of the asset. Amortization expense was $31.9 million, $27.5 million and $21.2 million in 2023, 2022 and 2021, respectively. Estimated future amortization expense of the acquired identifiable intangible assets and completed capitalized internal-use software costs as of December 31, 2023 was as follows (in thousands):
2024 | $ | 30,880 |
2025 | 26,795 |
2026 | 17,220 |
2027 | 6,806 |
2028 | 1,600 |
2029 and thereafter | 3,531 |
Total | $ | 86,832 |
The table above excludes the impact of $7.7 million of capitalized internal-use software costs for projects that have not been completed as of December 31, 2023, and therefore, we have not determined the useful life of the software, nor have all the costs associated with these projects been incurred. For the year ended December 31, 2023, we recorded a $3.5 million impairment of capitalized internal-use software costs to research and development expense in our consolidated statement of operations for projects that have been discontinued and will not be placed into service.

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