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Revenue
 6 Months Ended
Jun. 26, 2021
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
Transaction price allocated to the remaining performance obligations: On June 26, 2021, we had $10.7 million of remaining performance obligations, which were comprised of deferred service contracts and extended warranty contracts and contracts with overtime revenue recognition that are not yet delivered. We expect to recognize approximately 41.2% of our remaining performance obligations as revenue in the remainder of fiscal 2021, approximately 43.6% in fiscal 2022, and approximately 15.2% in fiscal 2023 and thereafter. The foregoing excludes the value of other remaining performance obligations as they have original durations of one year or less, and also excludes information about variable consideration allocated entirely to a wholly unsatisfied performance obligation.

Contract balances: The timing of revenue recognition may differ from the timing of invoicing to customers. Accounts receivable is recorded at the invoiced amount, net of an allowance for doubtful accounts. A receivable is recognized in the period we deliver goods or provide services or when our right to consideration is unconditional. A contract asset is recorded when we have performed under the contract but our right to consideration is conditional on something other than the passage of time. Contract assets as of June 26, 2021 and December 26, 2020 were $3.6 million and $3.7 million, respectively, and are reported on the Condensed Consolidated Balance Sheets as a component of Prepaid expenses and other current assets.

Contract liabilities include payments received in advance of performance under a contract and are satisfied as the associated revenue is recognized. Contract liabilities are reported on the Condensed Consolidated Balance Sheets at the end of each reporting period as a component of Deferred revenue and Other liabilities. Contract liabilities as of June 26, 2021 and December 26, 2020 were $23.9 million and $22.2 million, respectively. During the six months ended June 26, 2021, we recognized $12.8 million of revenue, that was included in contract liabilities as of December 26, 2020.

Costs to obtain a contract: We generally expense sales commissions when incurred as a component of Selling, general and administrative expense, as the amortization period is typically less than one year.
Revenue by Category: Refer to Note 15, Operating Segments and Enterprise-Wide Information, for further details.