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Revenue
 3 Months Ended
Mar. 31, 2021
Revenue from Contract with Customer [Abstract]  
Revenue
4. Revenue

Revenue from contracts with customers consist of the following (in millions):
Three Months Ended March 31,
 20212020
Revenue
Infrastructure
$161.3 $176.5 
Spectrum10.5 10.1 
Total revenue$171.8 $186.6 

Accounts receivables, net from contracts with customers consist of the following (in millions):
March 31,
2021		December 31,
2020
 
Accounts receivables with customers
Infrastructure
$165.3 $168.5 
Spectrum6.9 7.3 
Total accounts receivables with customers$172.2 $175.8 
Infrastructure Segment

The following table disaggregates DBMG's revenue by market (in millions):
Three Months Ended March 31,
 20212020
Commercial$49.4 $62.8 
Industrial40.3 58.9 
Transportation13.9 16.3 
Government21.3 8.6 
Leisure7.5 16.0 
Healthcare8.9 8.0 
Convention9.4 2.4 
Other10.6 3.5 
Total revenue from contracts with customers161.3 176.5 
Other revenue— — 
Total Infrastructure segment revenue$161.3 $176.5 

Contract assets and contract liabilities consisted of the following (in millions):
March 31,
2021		December 31,
2020
 
Contract assets$65.7 $55.6 
Contract liabilities$58.5 $52.2 

The change in contract assets is a result of the recording of $35.5 million of costs in excess of billings driven by new commercial projects, offset by $25.4 million of costs in excess of billings transferred to receivables from contract assets recognized at the beginning of the period. The change in contract liabilities is a result of periodic billing in excess of costs of $38.7 million driven largely by new commercial projects, offset by revenue recognized that was included in the contract liability balance at the beginning of the period in the amount of $32.4 million.

The transaction price allocated to remaining unsatisfied performance obligations consisted of the following (in millions):

 Within one yearWithin five yearsTotal
Commercial$159.1 $— $159.1 
Convention67.3 — 67.3 
Healthcare33.8 — 33.8 
Industrial182.2 2.3 184.5 
Transportation16.0 — 16.0 
Government39.6 — 39.6 
Leisure3.5 — 3.5 
Other10.0 — 10.0 
Remaining unsatisfied performance obligations$511.5 $2.3 $513.8 

DBMG includes an additional $8.9 million in its backlog that is not included in the remaining unsatisfied performance obligations noted above. This backlog represents commitments under master service agreements that are estimated amounts of work to be performed based on customer communications, historic experience and knowledge of our customers' intentions.

Spectrum Segment

The following table disaggregates the Spectrum segment's revenue by type (in millions):
Three Months Ended March 31,
20212020
Network advertising$4.7 $5.0 
Broadcast station4.4 3.5 
Network distribution0.9 1.0 
Other0.5 0.6 
Total revenue from contracts with customers10.5 10.1 
Other revenue— — 
Total Spectrum segment revenue$10.5 $10.1 
The transaction price allocated to remaining unsatisfied performance obligations consisted of $2.3 million, $7.8 million, and $0.2 million of network advertising, broadcasting station revenues, and other revenues respectively of which $6.2 million is expected to be recognized within one year and $4.1 million is expected to be recognized within five years.