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REVENUE RECOGNITION (Tables) | 9 Months Ended
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Sep. 30, 2021
REVENUE RECOGNITION |
Schedule of reconciliation of disaggregated revenue by target market and geography | A disaggregation of revenue by target market and geography is provided below (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three months ended | ​ | Nine months ended
​ | ​ | September 30, | ​ | September 30,
Target Market |  | 2021 |  | 2020 |  | 2021 |  | 2020
Vehicle | ​ | $ | 33,931 | ​ | $ | 32,378 | ​ | $ | 102,113 | ​ | $ | 79,017
Industrial | ​ |  | 35,269 | ​ |  | 25,307 | ​ |  | 100,351 | ​ |  | 86,882
Medical | ​ |  | 21,030 | ​ |  | 23,448 | ​ |  | 64,554 | ​ |  | 62,260
Aerospace & Defense | ​ |  | 8,291 | ​ |  | 8,844 | ​ |  | 24,313 | ​ |  | 30,503
Other | ​ |  | 4,988 | ​ |  | 4,676 | ​ |  | 15,392 | ​ |  | 15,034
Total | ​ | $ | 103,509 | ​ | $ | 94,653 | ​ | $ | 306,723 | ​ | $ | 273,696
​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three months ended | ​ | Nine months ended
​ | ​ | September 30, | ​ | September 30,
Geography |  | 2021 |  | 2020 |  | 2021 |  | 2020
United States | ​ | $ | 64,326 | ​ | $ | 56,185 | ​ | $ | 182,673 | ​ | $ | 159,862
Europe | ​ |  | 30,943 | ​ |  | 31,800 | ​ |  | 99,643 | ​ |  | 93,944
Asia-Pacific | ​ |  | 8,240 | ​ |  | 6,668 | ​ |  | 24,407 | ​ |  | 19,890
Total | ​ | $ | 103,509 | ​ | $ | 94,653 | ​ | $ | 306,723 | ​ | $ | 273,696
Schedule of opening and closing balances of the Company's receivables, contract asset, and contract liability | The opening and closing balances of the Company’s contract liabilities are as follows (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | September 30, |  | December 31,
​ | ​ | 2021 | ​ | 2020
Contract liabilities in accrued liabilities | ​ | $ | 354 | ​ | $ | 898
Contract liabilities in other long-term liabilities | ​ | ​ | 247 | ​ | ​ | 262
​ | ​ | $ | 601 | ​ | $ | 1,160
​ | ​ | ​ | ​ | ​ | ​ | ​

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- Definition Tabular disclosure of receivable, contract asset, and contract liability from contract with customer. Includes, but is not limited to, change in contract asset and contract liability. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 10 -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130551-203045 + Details
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- Definition Tabular disclosure of disaggregation of revenue into categories depicting how nature, amount, timing, and uncertainty of revenue and cash flows are affected by economic factor. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 5 -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130545-203045 + Details
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