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Revenue
 12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
Our disaggregated revenues were as follows (in thousands):
Year Ended December 31,
202320222021
Royalties$447,865 $360,475 $203,900 
Product sales, net
Sales of bulk rHuPH20
115,442 82,084 80,960 
Sale of proprietary products130,834 72,849 23,264 
Sale of device partnered products
54,578 36,097 — 
Total product sales, net300,854 191,030 104,224 
Revenues under collaborative agreements:
Upfront license and target nomination fees
2,000 30,000 42,000 
Event-based development and regulatory milestones and other fees
69,000 59,000 42,000 
Sales-based milestones
— 10,000 50,000 
Device licensing and development revenue
9,534 9,611 1,186 
Total revenues under collaborative agreements80,534 108,611 135,186 
Total revenues
$829,253 $660,116 $443,310 
During the year ended December 31, 2023 we recognized revenue related to licenses granted to partners in prior periods in the amount of $516.9 million. This amount represents royalties earned in the current period, in addition to $69.0 million of variable consideration in the contracts where uncertainties were resolved and the development milestones are expected to be achieved or were achieved. We also recognized revenue of $3.2 million during the year ended December 31, 2023 that had been included in deferred revenues in our consolidated balance sheets as of December 31, 2022.
Accounts receivable, other contract assets and deferred revenues (contract liabilities) from contracts with customers, including partners, consisted of the following (in thousands):
December 31, 2023December 31, 2022
Accounts receivable, net$233,254 $186,970 
Other contract assets956 44,102 
Deferred revenues4,048 — 
As of December 31, 2023, the amounts included in the transaction price of our contracts with customers, including partners, and allocated to goods and services not yet provided were $80.8 million of which $76.8 million relates to unfulfilled product purchase orders and $4.0 million has been collected and is reported as deferred revenues in our Consolidated Balance Sheets. The unfulfilled product purchase orders are estimated to be delivered by the end of 2024. Of the total deferred revenues of $4.0 million, $0.6 million is expected to be used by our customers within the next 12 months.
We recognized contract assets of $1.0 million as of December 31, 2023, which related to development milestones deemed probable of receipt for intellectual property licenses granted to partners in prior periods and for goods or services when control has transferred to the customer, and corresponding revenue is recognized on an over time basis but is not yet billable to the customer in accordance with the terms of the contract.