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Contract Balances
 6 Months Ended
Jun. 30, 2021
Revenue from Contract with Customer [Abstract]  
Contract Balances Contract Balances
Contract assets were $50.0 million and $20.8 million as of June 30, 2021 and December 31, 2020, respectively. Contract assets are recorded within prepaid expenses and other current assets in our condensed consolidated balance sheets.
For the three months ended June 30, 2021 and 2020, we recognized revenue of $51.9 million and $33.8 million, respectively, that was included in the deferred revenue balance at the beginning of the related period. For the six months ended June 30, 2021 and 2020, we recognized revenue of $47.8 million and $36.6 million, respectively, that was included in the deferred revenue balance at the beginning of the related period.
Contract Cost AssetsAs of June 30, 2021 and December 31, 2020, we had $47.9 million and $50.7 million, respectively, of contract cost assets. For the three and six months ended June 30, 2021 and 2020, we did not incur any impairment losses to our contract cost assets. We recorded amortization expense related to contract cost assets of $10.1 million and $8.7 million for the three months ended June 30, 2021 and 2020, respectively, and $20.2 million and $17.1 million for the six months ended June 30, 2021 and 2020, respectively.