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Intangible Assets
 12 Months Ended
Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract]  
Intangible Assets Intangible Assets
The carrying values of intangible assets were as follows: 
 
December 31, 2019
 
December 31, 2018
 
Gross
Carrying
Amount
 
Accumulated
Amortization
 
Net
Carrying
Amount
 
Gross
Carrying
Amount
 
Accumulated
Amortization
 
Net
Carrying
Amount
 
(In thousands)
 
(In thousands)
Goodwill
$
1,243,669

 
$
—

 
$
1,243,669

 
$
1,206,877

 
$
—

 
$
1,206,877

Definite-lived intangible assets subject to amortization:
 
 
 
 
 
 
 
 
 
 
 
Developed technology
$
413,310

 
$
(331,696
)
 
$
81,614

 
$
399,095

 
$
(280,301
)
 
$
118,794

Customer relationships
297,595

 
(110,732
)
 
186,863

 
258,798

 
(94,557
)
 
164,241

Trademarks
56,393

 
(30,213
)
 
26,180

 
54,897

 
(24,443
)
 
30,454

In-service research and development
10,702

 
(7,160
)
 
3,542

 
10,708

 
(5,336
)
 
5,372

Backlog
11,335

 
(10,935
)
 
400

 
9,567

 
(9,567
)
 
—

Total intangible assets subject to amortization
789,335

 
(490,736
)
 
298,599

 
733,065

 
(414,204
)
 
318,861

Indefinite-lived intangible assets not subject to amortization:
 
 
 
 
 
 
 
 
 
 
 
Trademarks
40,106

 
—

 
40,106

 
40,270

 
—

 
40,270

In-process research and development
800

 
—

 
800

 
800

 
—

 
800

Total intangible assets not subject to amortization
40,906

 
—

 
40,906

 
41,070

 
—

 
41,070

Intangible assets
$
830,241

 
$
(490,736
)
 
$
339,505

 
$
774,135

 
$
(414,204
)
 
$
359,931


Segment Allocation of Goodwill and Trademarks
The changes in the carrying amount of goodwill assigned to reporting units in our reportable segments are as follows: 
 
Enterprise Solutions
 
Industrial Solutions
 
Consolidated
 
(In thousands)
Balance at December 31, 2017
$
432,601

 
$
775,986

 
$
1,208,587

Acquisitions and purchase accounting adjustments
2,443

 
—

 
2,443

Translation impact
(462
)
 
(3,691
)
 
(4,153
)
Balance at December 31, 2018
$
434,582

 
$
772,295

 
$
1,206,877

Acquisitions and purchase accounting adjustments
38,209

 
—

 
38,209

Translation impact
(260
)
 
(1,157
)
 
(1,417
)
Balance at December 31, 2019
$
472,531

 
$
771,138

 
$
1,243,669


The changes in the carrying amount of indefinite-lived trademarks are as follows:
 
Enterprise Solutions
 
Industrial Solutions
 
Consolidated
 
(In thousands)
Balance at December 31, 2017
$
31,063

 
$
9,681

 
$
40,744

Translation impact
—

 
(474
)
 
(474
)
Balance at December 31, 2018
$
31,063

 
$
9,207

 
$
40,270

Translation impact
—

 
(164
)
 
(164
)
Balance at December 31, 2019
$
31,063

 
$
9,043

 
$
40,106


Impairment
The annual measurement date for our goodwill and indefinite-lived intangible assets impairment test is our fiscal November month-end. For our 2019 goodwill impairment test, we performed a quantitative assessment for all ten of our reporting units included in continuing operations and determined the estimated fair values of our reporting units by calculating the present values of their estimated future cash flows using Level 3 inputs. We did not perform a qualitative assessment over our reporting units. We determined that the fair values of the reporting units were in excess of the carrying values; therefore, we did not record any goodwill impairment for the ten reporting units. We also did not recognize any goodwill impairment in 2018 or 2017 based upon the results of our annual goodwill impairment testing.
During the fourth quarter of 2019, we committed to a plan to sell Grass Valley, and at such time, met all of the criteria to classify the assets and liabilities of this business as held for sale. Furthermore, we determined a divestiture of Grass Valley represents a strategic shift that is expected to have a major impact on our operations and financial results. As a result, the Grass Valley disposal group, which was included in our Enterprise Solutions segment, is now reported within discontinued operations. We also ceased depreciating and amortizing the assets of the disposal group once they met the held for sale criteria in the fourth quarter of 2019. During 2019, we wrote down the carrying value of Grass Valley and recognized asset impairments totaling $521.4 million, which consisted of impairments to goodwill, customer relationships, and trademarks of $326.1 million, $14.4 million, and $1.6 million, respectively, as well as an impairment of the disposal group of $179.3 million ($180.4 million translated at year-end exchange rates). We determined the estimated fair values of the assets and of the reporting unit by calculating the present values of their estimated future cash flows, which was based in part on the assumed proceeds from a divestiture of Grass Valley.
Similar to the quantitative goodwill impairment test, we determined the estimated fair values of our indefinite-lived trademarks by calculating the present values of the estimated cash flows (using Level 3 inputs) attributable to the respective trademarks. We did not recognize any trademark impairment charges in 2019, 2018, or 2017.
Amortization Expense
We recognized amortization expense in income from continuing operations of $74.6 million, $75.1 million, and $90.2 million in 2019, 2018, and 2017, respectively. We expect to recognize annual amortization expense of $65.3 million in 2020, $33.2 million in 2021, $30.3 million in 2022, $28.7 million in 2023, and $26.6 million in 2024 related to our intangible assets balance as of December 31, 2019.
The weighted-average amortization period for our customer relationships, trademarks, developed technology, and in-service research and development is 18.3, 8.5, 6.8, and 5.0 years, respectively.