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Revenue
 3 Months Ended
Mar. 31, 2021
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
For the three months ended March 31, 2021 and 2020, the Company recognized revenue as follows:
Three Months Ended
March 31,
20212020
Revenue recognized over time$1,628 $1,475 
Revenue recognized at a point in time1,450 1,282 
Total revenue$3,078 $2,757 

See Note Q for further disaggregation of the Company's revenue.
The Company has applied the practical expedient to exclude disclosure of remaining performance obligations as its binding orders typically have a term of one year or less.
Contract Assets
The Company recorded contract assets of $52 and $37 in prepaid and other current assets as of March 31, 2021 and December 31, 2020. For the three months ended March 31, 2021, the Company recorded new contract assets related to customized work-in-process inventory in the Company's equipment business.