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REVENUE RECOGNITION
 12 Months Ended
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]  
REVENUE RECOGNITION REVENUE RECOGNITION
Disaggregated Revenue
The following table presents the disaggregation of our revenue for the years ended December 31, 2021 and 2020 (in thousands):
Years Ended December 31,
20212020
Fixed fee license revenue$5,843 $5,472 
Per-unit royalty revenue28,846 24,704 
Total royalty and license revenue34,689 30,176 
Development, services, and other revenue400 280 
Total revenues$35,089 $30,456 

As of December 31, 2021, we had contract assets of $12.4 million included within Prepaid expenses and other current assets, and $1.7 million included within Other assets, net on the Consolidated Balance Sheets. As of December 31, 2020, we had contract assets of $11.6 million included within Prepaid expenses and other current assets, and $4.6 million included within Other assets, net on the Consolidated Balance Sheets.
Contract assets decreased by $2.0 million from January 1, 2021 to December 31, 2021, primarily due to actual royalties billed during the year.
Contracted Revenue
Based on contracts signed and payments received as of December 31, 2021, we expect to recognize $21.5 million revenue related to Performance Obligation B under our fixed fee license agreements, which are satisfied over time, including $13.6 million over one to three years and $7.9 million over more than three years.
Capitalized Contract Costs
We capitalized $0.2 million of incremental costs incurred to obtain new contracts with customers in each of the years ended December 31, 2021 and 2020.