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Revenue
 9 Months Ended
Sep. 30, 2020
Revenue from Contract with Customer [Abstract]  
Revenue REVENUE
Revenue by Category

We recognized revenue, disaggregated by business segment, geographical region, and timing of transfer of goods or services, as follows:
Three Months EndedNine Months Ended
(in thousands)Sep 30, 2020Sep 30, 2019 *Jun 30, 2020 *Sep 30, 2020Sep 30, 2019 *
Business Segment:
Energy Services and Products
Subsea Robotics$119,617 $151,492 $119,234 $378,621 $432,548 
Manufactured Products110,416 114,487 100,570 377,520 334,488 
Offshore Projects Group73,212 89,115 73,840 221,306 289,193 
Integrity Management & Digital Solutions53,933 65,332 53,969 172,631 198,057 
Total Energy Services and Products357,178 420,426 347,613 1,150,078 1,254,286 
Aerospace and Defense Technologies82,565 77,221 79,603 253,549 233,028 
Total$439,743 $497,647 $427,216 $1,403,627 $1,487,314 
*Recast to reflect segment changes.
Three Months EndedNine Months Ended
(in thousands)Sep 30, 2020Sep 30, 2019Jun 30, 2020Sep 30, 2020Sep 30, 2019
Geographic Operating Areas:
Foreign:
Africa$43,077 $73,901 $51,649 $158,143 $222,397 
United Kingdom68,568 61,914 62,426 191,781 180,270 
Norway57,138 59,875 45,423 154,745 162,593 
Asia and Australia30,715 42,662 37,122 113,517 127,211 
Brazil19,296 25,404 19,117 64,902 66,825 
Other22,071 14,178 22,625 69,355 63,734 
Total Foreign240,865 277,934 238,362 752,443 823,030 
United States198,878 219,713 188,854 651,184 664,284 
Total$439,743 $497,647 $427,216 $1,403,627 $1,487,314 
Timing of Transfer of Goods or Services:
Revenue recognized over time$411,809 $460,029 $396,773 $1,306,889 $1,377,211 
Revenue recognized at a point in time27,934 37,618 30,443 96,738 110,103 
Total$439,743 $497,647 $427,216 $1,403,627 $1,487,314 

Contract Balances

Our contracts with milestone payments have, in the aggregate, a significant impact on the contract asset and the contract liability balances. Milestones are contractually agreed with customers and relate to significant events across the contract lives. Some milestones are achieved before revenue is recognized, resulting in a contract liability, while other milestones are achieved after revenue is recognized, resulting in a contract asset.

The following table provides information about contract assets and contract liabilities from contracts with customers:
(in thousands)Sep 30, 2020Dec 31, 2019
Contract assets$220,760 $221,288 
Contract liabilities45,566 117,342 

Our payment terms consist of those services billed regularly as provided and those products delivered at a point in time, which are invoiced after the performance obligation is satisfied. Our product and service contracts with milestone payments due at agreed progress points during the contract are invoiced when those milestones are reached, which may differ from the timing of revenue recognition.
During the nine months ended September 30, 2020, contract assets decreased by $0.5 million from the balance at December 31, 2019, due to the timing of billings of approximately $1.272 billion exceeding revenue earned of $1.271 billion. Contract liabilities decreased $72 million from the balance at December 31, 2019, due to revenue recognition of $118 million in excess of deferrals of milestone payments that totaled $46 million. There were no cancellations, impairments or other significant impacts in the period that relate to other categories of explanation.

Performance Obligations

As of September 30, 2020, the aggregate amount of the transaction price allocated to remaining performance obligations was $226 million. In arriving at this value, we have used two practical expedients available to us and are not disclosing amounts in relation to performance obligations: (1) that are part of contracts with an original expected duration of one year or less; or (2) on contracts where we recognize revenue in line with the billing. Of this amount, we expect to recognize revenue of $177 million over the next 12 months, and we expect to recognize substantially all of the remaining balance of $48 million within the next 24 months.
Due to the nature of our service contracts in our Subsea Robotics, Offshore Projects Group, Integrity Management & Digital Solutions ("IMDS") and Aerospace and Defense Technologies ("ADTech") segments, the majority of our contracts either have initial contract terms of one year or less or have customer option cancellation clauses that lead us to consider the original expected duration of one year or less.
In our Manufactured Products and ADTech segments, we have long-term contracts that extend beyond one year, and these make up the majority of the performance obligations balance reported as of September 30, 2020. We also have shorter-term product contracts with an expected original duration of one year or less that have been excluded.
Where appropriate, we have made estimates within the transaction price of elements of variable consideration within the contracts and constrained those amounts to a level where we consider it is probable that a significant reversal in the amount of cumulative revenue recognized will not occur when the uncertainty associated with the variable consideration is subsequently resolved. The amount of revenue recognized in the three months ended September 30, 2020 that was associated with performance obligations completed or partially completed in prior periods was not significant.
As of September 30, 2020, there were no significant outstanding liability balances for refunds or returns due to the nature of our contracts and the services and products we provide. Our warranties are limited to assurance warranties that are of a standard length and are not considered to be material rights. The majority of our contracts consist of a single performance obligation. When there are multiple obligations, we look for observable evidence of stand-alone selling prices on which to base the allocation. This involves judgment as to the appropriateness of the observable evidence relating to the facts and circumstances of the contract. If we do not have observable evidence, we estimate stand-alone selling prices by taking a cost-plus-margin approach, using typical margins from the type of product or service, customer and regional geography involved.

Costs to Obtain or Fulfill a Contract

In line with the available practical expedient, we capitalize costs to obtain a contract when those amounts are significant and the contract is expected at inception to exceed one year in duration. Otherwise, the costs are expensed in the period when incurred. Costs to obtain a contract primarily consist of bid and proposal costs, which are incremental to our fixed costs. There were no balances or amortization of costs to obtain a contract in the current reporting periods.
Costs to fulfill a contract primarily consist of certain mobilization costs incurred to provide services or products to our customers. These costs are deferred and amortized over the period of contract performance. The closing balance of costs to fulfill a contract was $9.6 million and $15 million as of September 30, 2020 and December 31, 2019, respectively. For the three- and nine-month periods ended September 30, 2020, we recorded amortization expense of $1.5 million and $5.3 million, respectively. For the three- and nine-month periods ended September 30, 2019, we recorded amortization expense of $1.9 million and $6.2 million, respectively. No impairment costs were recognized.