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Revenue
 3 Months Ended
Sep. 30, 2022
Revenue from Contract with Customer [Abstract]  
Revenue REVENUE
Revenue by Category

The following tables present revenue disaggregated by business segment, geographical region, and timing of transfer of goods or services.
Three Months EndedNine Months Ended
(in thousands)Sep 30, 2022Sep 30, 2021Sep 30, 2022Sep 30, 2021
Business Segment:
Energy Services and Products
Subsea Robotics$169,422 $143,710 $454,534 $404,200 
Manufactured Products94,039 75,359 282,187 241,311 
Offshore Projects Group152,987 95,580 366,841 292,765 
Integrity Management & Digital Solutions58,465 62,806 174,473 180,924 
Total Energy Services and Products474,913 377,455 1,278,035 1,119,200 
Aerospace and Defense Technologies84,758 89,359 251,826 283,366 
Total$559,671 $466,814 $1,529,861 $1,402,566 
Geographic Operating Areas:
Foreign:
Africa$78,955 $78,890 $210,274 $213,087 
Asia and Australia62,097 43,919 161,202 123,616 
Norway41,784 51,269 134,972 160,923 
United Kingdom45,234 46,254 130,122 135,401 
Brazil36,638 30,238 104,940 78,411 
Other25,085 22,912 69,253 69,183 
Total Foreign289,793 273,482 810,763 780,621 
United States269,878 193,332 719,098 621,945 
Total$559,671 $466,814 $1,529,861 $1,402,566 
Timing of Transfer of Goods or Services:
Revenue recognized over time$525,967 $437,086 $1,427,692 $1,316,733 
Revenue recognized at a point in time33,704 29,728 102,169 85,833 
Total$559,671 $466,814 $1,529,861 $1,402,566 

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.
Nine Months Ended
(in thousands)Sep 30, 2022Sep 30, 2021
Total contract assets, beginning of period$164,847 $221,997 
Revenue accrued1,456,244 1,355,567 
Amounts billed(1,448,147)(1,322,892)
Total contract assets, end of period$172,944 $254,672 
Total contract liabilities, beginning of period$88,175 $50,046 
Deferrals of milestone payments65,075 47,246 
Recognition of revenue for goods and services(73,066)(46,538)
Total contract liabilities, end of period$80,184 $50,754 
   
Performance Obligations

As of September 30, 2022, the aggregate amount of the transaction price allocated to remaining performance obligations that were unsatisfied (or partially unsatisfied) was $203 million. In arriving at this value, we have used two 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 $156 million over the next 12 months, and we expect to recognize substantially all of the remaining balance of $47 million within the next 24 months.
Due to the nature of our service contracts in our Subsea Robotics, OPG, Integrity Management & Digital Solutions (“IMDS”) and 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, 2022. 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- and nine-month periods ended September 30, 2022 and 2021 that was associated with performance obligations completed or partially completed in prior periods was not significant.
As of September 30, 2022, 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 incremental costs to obtain a contract that would not have been incurred if the contract had not been obtained when those amounts are significant and the contract is expected at inception to exceed one year in duration. Our costs to obtain a contract primarily consist of bid and proposal costs, which are generally expensed in the period when incurred. 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 $9.5 million and $7.8 million as of September 30, 2022 and December 31, 2021, respectively. For the three- and nine-month periods ended September 30, 2022, we recorded amortization expense of $1.2 million and $4.2 million, respectively. For the three- and nine-month periods ended September 30, 2021, we recorded amortization expense of $1.2 million and $3.4 million, respectively. No impairment costs were recognized.