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Intangible Assets, Net (Tables) | 12 Months Ended
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Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract] |
Schedule of finite-lived intangible assets | Intangible assets consist of the following:
|  | December 31, 2023 |  | December 31, 2022
(in thousands) |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Carrying Amount |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Carrying Amount
Amortizable intangible assets: |  |  |  |  |  |  |  |  |  |  |  |
Patents |  | $ | 4,905 |  |  | $ | (820) |  |  | $ | 4,085 |  |  | $ | 3,792 |  |  | $ | (621) |  |  | $ | 3,170 |
License agreements |  | 1,101 |  |  | (1,087) |  |  | 14 |  |  | 1,101 |  |  | (1,014) |  |  | 87 |
Total amortizable intangible assets |  | 6,006 |  |  | (1,907) |  |  | 4,099 |  |  | 4,893 |  |  | (1,635) |  |  | 3,258 |
Unamortized intangible assets: |  |  |  |  |  |  |  |  |  |  |  |
Trademarks |  | 432 |  |  | — |  |  | 432 |  |  | 391 |  |  | — |  |  | 391 |
Total intangible assets |  | $ | 6,438 |  |  | $ | (1,907) |  |  | $ | 4,531 |  |  | $ | 5,284 |  |  | $ | (1,635) |  |  | $ | 3,649 |
Schedule of indefinite-lived intangible assets | Intangible assets consist of the following:
|  | December 31, 2023 |  | December 31, 2022
(in thousands) |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Carrying Amount |  | Gross Carrying Amount |  | Accumulated Amortization |  | Net Carrying Amount
Amortizable intangible assets: |  |  |  |  |  |  |  |  |  |  |  |
Patents |  | $ | 4,905 |  |  | $ | (820) |  |  | $ | 4,085 |  |  | $ | 3,792 |  |  | $ | (621) |  |  | $ | 3,170 |
License agreements |  | 1,101 |  |  | (1,087) |  |  | 14 |  |  | 1,101 |  |  | (1,014) |  |  | 87 |
Total amortizable intangible assets |  | 6,006 |  |  | (1,907) |  |  | 4,099 |  |  | 4,893 |  |  | (1,635) |  |  | 3,258 |
Unamortized intangible assets: |  |  |  |  |  |  |  |  |  |  |  |
Trademarks |  | 432 |  |  | — |  |  | 432 |  |  | 391 |  |  | — |  |  | 391 |
Total intangible assets |  | $ | 6,438 |  |  | $ | (1,907) |  |  | $ | 4,531 |  |  | $ | 5,284 |  |  | $ | (1,635) |  |  | $ | 3,649 |
Schedule of amortization expense | The amortization expense is as follows for the years ended:
| December 31,
(in thousands) | 2023 |  | 2022 |  | 2021
Amortization expense | 273 |  |  | 265 |  |  | 202 |
Schedule of future amortization | As of December 31, 2023, future amortization of patents and license agreements are as follows:
Year Ending December 31, |
2024 | 236 |
2025 | 236 |
2026 | 235 |
2027 | 232 |
2028 | 232 |
Thereafter | 2,928 |
Total | 4,099 |
Schedule of royalty expenses | Royalty fees included in sales and marketing on the consolidated statement of operations are as follows for the years ended:
(in thousands) | December 31,
| 2023 |  | 2022 |  | 2021
Royalty fees | $ | 3,110 |  |  | $ | 3,103 |  |  | $ | 2,715 |

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