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REVENUES FROM CONTRACTS (Tables)
9 Months Ended
Oct. 02, 2021
Revenue from Contract with Customer [Abstract]  
Disaggregation of Revenue
We disaggregate revenue from contracts with customers by major product line and based on the timing of recognition for each of our reportable segments and our other operating segment, as we believe such disaggregation best depicts how the nature, amount, timing, and uncertainty of our revenues and cash flows are affected by economic factors, with such disaggregation presented below for the three and nine months ended October 2, 2021 and September 26, 2020:
Three months ended October 2, 2021
Reportable Segments and OtherHVACDetection and MeasurementOtherTotal
Major product lines
Package and process cooling equipment and services$104.1 $— $— $104.1 
Boilers, comfort heating, and ventilation75.2 — — 75.2 
Underground locators, inspection and rehabilitation
 equipment, and robotic systems
— 60.1 — 60.1 
Communication technologies, obstruction lighting, and bus fare collection systems— 46.3 — 46.3 
South African projects— — 0.1 0.1 
$179.3 $106.4 $0.1 $285.8 
Timing of Revenue Recognition
Revenues recognized at a point in time$154.1 $94.5 $— $248.6 
Revenues recognized over time25.2 11.9 0.1 37.2 
$179.3 $106.4 $0.1 $285.8 
Nine months ended October 2, 2021
Reportable Segments and OtherHVACDetection and MeasurementOtherTotal
Major product lines
Package and process cooling equipment and services$317.3 $— $0.2 $317.5 
Boilers, comfort heating, and ventilation223.0 — — 223.0 
Underground locators, inspection and rehabilitation
 equipment, and robotic systems
— 193.4 — 193.4 
Communication technologies, obstruction lighting, and bus fare collection systems— 135.8 — 135.8 
South African projects— — 0.7 0.7 
$540.3 $329.2 $0.9 $870.4 
Timing of Revenue Recognition
Revenues recognized at a point in time$474.8 $292.5 $— $767.3 
Revenues recognized over time65.5 36.7 0.9 103.1 
$540.3 $329.2 $0.9 $870.4 

Three months ended September 26, 2020
Reportable Segments and OtherHVACDetection and MeasurementOtherTotal
Major product lines
Package and process cooling equipment and services$107.7 $— $0.2 $107.9 
Boilers, comfort heating, and ventilation74.9 — — 74.9 
Underground locators, inspection and rehabilitation
 equipment, and robotic systems
— 52.0 — 52.0 
Communication technologies, obstruction lighting, and bus fare collection systems— 33.2 — 33.2 
South African Projects— — 0.3 0.3 
$182.6 $85.2 $0.5 $268.3 
Timing of Revenue Recognition
Revenues recognized at a point in time$160.6 $76.2 $— $236.8 
Revenues recognized over time22.0 9.0 0.5 31.5 
$182.6 $85.2 $0.5 $268.3 
Nine months ended September 26, 2020
Reportable Segments and OtherHVACDetection and MeasurementOtherTotal
Major product lines
Package and process cooling equipment and services$319.4 $— $0.6 $320.0 
Boilers, comfort heating, and ventilation191.2 — — 191.2 
Underground locators, inspection and rehabilitation
 equipment, and robotic systems
— 148.0 — 148.0 
Communication technologies, obstruction lighting, and bus fare collection systems— 121.2 — 121.2 
South African projects— — 2.7 2.7 
$510.6 $269.2 $3.3 $783.1 
Timing of Revenue Recognition
Revenues recognized at a point in time$429.6 $245.4 $0.2 $675.2 
Revenues recognized over time81.0 23.8 3.1 107.9 
$510.6 $269.2 $3.3 $783.1 
Contract with Customer, Asset and Liability Our contract balances consisted of the following as of October 2, 2021 and December 31, 2020:
Contract BalancesOctober 2, 2021December 31, 2020Change
Contract Accounts Receivable(1)
$202.8 $210.6 $(7.8)
Contract Assets23.7 32.5 (8.8)
Contract Liabilities - current(50.7)(46.3)(4.4)
Contract Liabilities - non-current(2)
(5.9)(3.4)(2.5)
Net contract balance$169.9 $193.4 $(23.5)
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(1) Included in “Accounts receivable, net” within the accompanying condensed consolidated balance sheets.

(2) Included in “Other long-term liabilities” within the accompanying condensed consolidated balance sheets.