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Revenue | 6 Months Ended
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Jun. 30, 2019
Revenue from Contract with Customer [Abstract] |
Revenue | Revenue We disaggregate our revenue from contracts with customers by segment, geographic location and vertical, as we believe these best depict how the nature, amount, timing and uncertainty of our revenue and cash flows are affected by economic factors. Refer to Note 14 for revenue disaggregated by segment. Geographic net sales information, based on geographic destination of the sale, was as follows:
| Three months ended |  | Six months ended
In millions | June 30, 2019 | June 30, 2018 |  | June 30, 2019 | June 30, 2018
U.S. | $ | 511.1 |  | $ | 504.2 |  |  | $ | 937.1 |  | $ | 956.6 |
Western Europe | 106.9 |  | 103.8 |  |  | 211.2 |  | 214.1 |
Developing (1) | 129.0 |  | 115.4 |  |  | 237.9 |  | 228.4 |
Other Developed (2) | 52.5 |  | 57.2 |  |  | 102.2 |  | 114.1 |
Consolidated net sales | $ | 799.5 |  | $ | 780.6 |  |  | $ | 1,488.4 |  | $ | 1,513.2 |
(1) Developing includes China, Eastern Europe, Latin America, the Middle East and Southeast Asia.
(2) Other Developed includes Australia, Canada and Japan.
Vertical net sales information was as follows:
| Three months ended |  | Six months ended
In millions | June 30, 2019 | June 30, 2018 |  | June 30, 2019 | June 30, 2018
Residential | $ | 451.0 |  | $ | 437.5 |  |  | $ | 834.6 |  | $ | 849.7 |
Commercial | 170.7 |  | 167.8 |  |  | 321.4 |  | 319.6 |
Industrial | 177.8 |  | 175.3 |  |  | 332.4 |  | 343.9 |
Consolidated net sales | $ | 799.5 |  | $ | 780.6 |  |  | $ | 1,488.4 |  | $ | 1,513.2 |
Performance obligations On June 30, 2019, we had $59.8 million of remaining performance obligations on contracts with an original expected duration of one year or more. We expect to recognize the majority of our remaining performance obligations on these contracts within the next 12 to 18 months. Contract assets and liabilities Contract assets and liabilities consisted of the following:
In millions | June 30, 2019 | December 31, 2018 |  | $ Change | % Change
Contract assets | $ | 43.5 |  | $ | 36.5 |  |  | $ | 7.0 |  | 19.2 | %
Contract liabilities | 32.1 |  | 32.8 |  |  | (0.7 | ) | (2.1 | )%
Net contract assets | $ | 11.4 |  | $ | 3.7 |  |  | $ | 7.7 |  | 208.1 | %
The $7.7 million increase in net contract assets from December 31, 2018 to June 30, 2019 was primarily the result of timing of milestone payments. Approximately 70% of our contract liabilities at December 31, 2018 were recognized in revenue in the first half of 2019. There were no impairment losses recognized on our contract assets for the three months or six months ended June 30, 2019.

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- Definition The entire disclosure of revenue from contract with customer to transfer good or service and to transfer nonfinancial asset. Includes, but is not limited to, disaggregation of revenue, credit loss recognized from contract with customer, judgment and change in judgment related to contract with customer, and asset recognized from cost incurred to obtain or fulfill contract with customer. Excludes insurance and lease contracts. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -URI http://asc.fasb.org/topic&trid=49130388 + Details
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