Goodwill and Intangible Assets

The changes in the carrying amount of goodwill for the years ended December 31, 2024 and December 31, 2023 were as follows (in thousands):


	Year Ended December 31, 2024						Year Ended December 31, 2023
	TASER		Software and Sensors		Total		TASER		Software and Sensors		Total
Balance, beginning of period	$	2,984	$	54,961	$	57,945	$	2,957	$	42,026	$	44,983
Goodwill acquired	—		701,695		701,695		—		12,751		12,751
Purchase accounting adjustments	—		(479)		(479)		—		(19)		(19)
Foreign currency translation adjustments	(131)		(2,192)		(2,323)		27		203		230
Balance, end of period	$	2,853	$	753,985	$	756,838	$	2,984	$	54,961	$	57,945

There were no accumulated impairment losses as of December 31, 2024 and 2023.

Intangible assets (other than goodwill) consisted of the following at December 31, 2024 and December 31, 2023 (in thousands):


		December 31, 2024						December 31, 2023
	Useful Life	Gross Carrying Amount		Accumulated Amortization		Net Carrying Amount		Gross Carrying Amount		Accumulated Amortization		Net Carrying Amount
Amortizable (definite-lived) intangible assets:
Developed technology	3 ‑ 8 years	$	118,322	$	(21,337)	$	96,985	$	29,402	$	(16,562)	$	12,840
Customer relationships	5 ‑ 10 years	33,223		(4,716)		28,507		5,530		(3,620)		1,910
Issued trademarks	3 ‑ 23 years	6,706		(1,784)		4,922		1,333		(817)		516
Issued patents	8 ‑ 26 years	2,931		(1,470)		1,461		3,222		(1,707)		1,515
Domain names	5 ‑ 10 years	3,043		(2,433)		610		3,043		(2,128)		915
Non-compete agreements		—		—		—		448		(448)		—
Total amortizable		164,225		(31,740)		132,485		42,978		(25,282)		17,696
Non-amortizable (indefinite-lived) intangible assets:
In-process research and development(1)		41,000		—		41,000		—		—		—
Trademarks		1,068		—		1,068		1,068		—		1,068
Patents and trademarks pending		604		—		604		775		—		775
Total non-amortizable		42,672		—		42,672		1,843		—		1,843
Total intangible assets		$	206,897	$	(31,740)	$	175,157	$	44,821	$	(25,282)	$	19,539

(1) Consists of in-process research and development costs pertaining to the acquisition of Dedrone. For additional details, refer to Note 21.

Amortization expense of intangible assets was $17.4 million, $4.5 million and $4.0 million for the years ended December 31, 2024, 2023 and 2022, respectively. Estimated amortization for intangible assets with definite lives for the next five years ended December 31, and thereafter, is as follows (in thousands):


2025	$	23,850
2026	23,655
2027	22,423
2028	21,437
2029	19,203
Thereafter	21,917
Total	$	132,485