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Goodwill and Other Intangible Assets, Net (Tables)
 12 Months Ended
Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract]  
Summary of Changes in Carrying Amounts of Goodwill
The changes in the carrying amount of goodwill for 2019 and 2018 were as follows:
 
Years Ended December 31,
(in millions)
2019
 
2018
Beginning balance
$
39.6

 
$
39.8

Foreign currency adjustment
0.2

 
(0.2
)
Ending balance
$
39.8

 
$
39.6
Components of Other Intangible Assets Intangible assets with finite useful lives are amortized using the straight-line method over the following estimated useful lives of the assets:
Customer relationships
5 - 10 years
Internal-use software
3 - 10 years
Intellectual property
15 years

The gross carrying amount, accumulated amortization and net book value of intangible assets at the end of each period were as follows:
 
As of December 31,
2019
 
2018
(in millions)
Gross Carrying Amount
 
Accumulated Amortization
 
Net Book Value
 
Gross Carrying Amount
 
Accumulated Amortization
 
Net Book Value
Customer relationships (1)
$
9.9

 
$
(2.8
)
 
$
7.1

 
$
6.1

 
$
(1.9
)
 
$
4.2

Internal-use software
12.0

 
(6.8
)
 
5.2

 
11.3

 
(5.1
)
 
6.2

Intellectual property
1.0

 
(0.1
)
 
0.9

 
—

 
—

 
—

Total intangible assets
$
22.9

 
$
(9.7
)
 
$
13.2

 
$
17.4

 
$
(7.0
)
 
$
10.4


(1) Includes customer relationships acquired from the Company’s former European distributor. See Note 13.
Amortization Expense Expected for Next Five Years Amortization expense associated with the intangible assets included on the Company’s balance sheet as of December 31, 2019 is expected to be as follows:
Years Ending December 31,
 
(in millions)

2020
 
$
2.9

2021
 
2.4

2022
 
1.9

2023
 
1.3

2024
 
1.2

Thereafter
 
3.5

Total
 
$
13.2