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Intangible Assets, Net (Tables)
 12 Months Ended
Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of finite-lived intangible assets
Intangible assets consist of the following:
December 31, 2023December 31, 2022
(in thousands)Gross Carrying AmountAccumulated AmortizationNet Carrying AmountGross Carrying AmountAccumulated AmortizationNet Carrying Amount
Amortizable intangible assets:
Patents$4,905 $(820)$4,085 $3,792 $(621)$3,170 
License agreements1,101 (1,087)14 1,101 (1,014)87 
Total amortizable intangible assets6,006 (1,907)4,099 4,893 (1,635)3,258 
Unamortized intangible assets:
Trademarks432 — 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, 2023December 31, 2022
(in thousands)Gross Carrying AmountAccumulated AmortizationNet Carrying AmountGross Carrying AmountAccumulated AmortizationNet Carrying Amount
Amortizable intangible assets:
Patents$4,905 $(820)$4,085 $3,792 $(621)$3,170 
License agreements1,101 (1,087)14 1,101 (1,014)87 
Total amortizable intangible assets6,006 (1,907)4,099 4,893 (1,635)3,258 
Unamortized intangible assets:
Trademarks432 — 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)202320222021
Amortization expense273 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,
2024236 
2025236 
2026235 
2027232 
2028232 
Thereafter2,928 
Total4,099 
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,
202320222021
Royalty fees $3,110 $3,103 $2,715