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Revenue (Tables) | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2020 | Dec. 31, 2019
Revenue from Contract with Customer [Abstract] |  |
Summary of total revenue | Total revenue based on the disaggregation criteria described above were as follows (in thousands):
|  | Nine months ended September 30, |
|  | 2020 |  |  | 2019 |
|  | Revenue |  |  | % of Revenue |  |  | Revenue |  |  | % of Revenue |
Revenue by primary geographical market: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
North America |  | $ | 3,198 |  |  |  | 28 | % |  | $ | 5,606 |  |  |  | 82 | %
Asia Pacific |  |  | 720 |  |  |  | 6 | % |  |  | 433 |  |  |  | 6 | %
Europe, Middle East, and Asia |  |  | 7,601 |  |  |  | 66 | % |  |  | 764 |  |  |  | 12 | %
Total |  | $ | 11,519 |  |  |  | 100 | % |  | $ | 6,803 |  |  |  | 100 | %
Revenue by timing of recognition: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Revenue recognized at a point in time |  | $ | 2,076 |  |  |  | 18 | % |  | $ | 4,373 |  |  |  | 64 | %
Revenue recognized over time |  |  | 9,443 |  |  |  | 82 | % |  |  | 2,430 |  |  |  | 36 | %
Total |  | $ | 11,519 |  |  |  | 100 | % |  | $ | 6,803 |  |  |  | 100 | %
Revenue by segment : |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Autonomy Solutions |  | $ | 9,587 |  |  |  | 83 | % |  | $ | 4,373 |  |  |  | 64 | %
Other Component Sales |  |  | 1,932 |  |  |  | 17 | % |  |  | 2,430 |  |  |  | 36 | %
Total |  | $ | 11,519 |  |  |  | 100 | % |  | $ | 6,803 |  |  |  | 100 | %
| Total revenue based on the disaggregation criteria described above are as follows (in thousands):
|  | Year Ended December 31, |
|  | 2019 |  |  | 2018 |
|  | Revenue |  |  | % of Revenue |  |  | Revenue |  |  | % of Revenue |
Revenue by primary geographical market: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
North America |  | $ | 10,453 |  |  |  | 83 | % |  | $ | 9,408 |  |  |  | 80 | %
Asia Pacific |  |  | 469 |  |  |  | 4 | % |  |  | 140 |  |  |  | 1 | %
Europe, Middle East, and Asia |  |  | 1,680 |  |  |  | 13 | % |  |  | 2,144 |  |  |  | 19 | %
Total |  |  | 12,602 |  |  |  | 100 | % |  |  | 11,692 |  |  |  | 100 | %
Revenue by timing of recognition: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Recognized at a point in time |  |  | 9,666 |  |  |  | 77 | % |  |  | 7,236 |  |  |  | 62 | %
Recognized over time |  |  | 2,936 |  |  |  | 23 | % |  |  | 4,456 |  |  |  | 38 | %
Total |  |  | 12,602 |  |  |  | 100 | % |  |  | 11,692 |  |  |  | 100 | %
Revenue by segment: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Autonomy Solutions |  |  | 9,666 |  |  |  | 77 | % |  |  | 7,236 |  |  |  | 62 | %
Other component sales |  |  | 2,936 |  |  |  | 23 | % |  |  | 4,456 |  |  |  | 38 | %
Total |  |  | 12,602 |  |  |  | 100 | % |  |  | 11,692 |  |  |  | 100 | %
Summary of opening and closing balances of contract liabilities | The opening and closing balances of our contract liabilities were as follows (in thousands):
|  | As of |
|  | September 30, 2020 |  |  | December 31, 2019 |
Contract liabilities, current |  | $ | 956 |  |  | $ | 225 |
Contract liabilities, non-current |  |  | — |  |  |  | — |
Total contract liabilities |  | $ | 956 |  |  | $ | 225 |
| Contract liabilities consisted of the following as of December 31, 2019 (in thousands):
|  | As of December 31, |
|  | 2019 |
Contract liabilities, current |  | $ | 225 |
Contract liabilities, long-term |  |  | — |
Total |  | $ | 225 |
Summary of significant changes in contract liabilities | The significant changes in contract liabilities balances consisted of the following (in thousands):
|  | As of September 30, |
|  | 2020 |  |  | 2019 |
Beginning balance |  | $ | 225 |  |  | $ | — |
Revenue recognized that was included in the contract liabilities beginning balance |  |  | (225 | ) |  |  | — |
Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period |  |  | 956 |  |  |  | 2,596 |
Ending balance |  | $ | 956 |  |  | $ | 2,596 |
| The following table shows the significant changes in contract liabilities balances as of December 31, 2019 (in thousands):
|  | Year Ended December 31, |
|  | 2019 |  |  | 2018 |
Beginning balance |  | $ |  |  |  | $ | 1,250 |
Impact of ASC 606 adoption |  |  | — |  |  |  | — |
Revenue recognized that was included in the contract liabilities beginning balance |  |  |  |  |  |  | (1,250 | )
Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period |  |  | 225 |  |  |  | — |
Customer deposits reclassified to refund liabilities |  |  | — |  |  |  | — |
Ending balance |  | $ | 225 |  |  | $ | — |

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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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