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Revenue
 9 Months Ended
Sep. 30, 2019
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
We disaggregate our revenue from contracts with customers by segment, geographic location and vertical, as we believe these best depict how the nature, amount, timing and uncertainty of our revenue and cash flows are affected by economic factors. Refer to Note 14 for revenue disaggregated by segment.

Geographic net sales information, based on geographic destination of the sale, was as follows:
 
Three months ended
 
Nine months ended
In millions
September 30,
2019
September 30,
2018
 
September 30,
2019
September 30,
2018
U.S.
$
445.0

$
438.5

 
$
1,382.1

$
1,395.1

Western Europe
97.8

97.1

 
309.0

311.2

Developing (1)
119.9

117.6

 
357.8

346.0

Other Developed (2)
50.9

58.2

 
153.1

172.3

Consolidated net sales
$
713.6

$
711.4

 
$
2,202.0

$
2,224.6

(1)  Developing includes China, Eastern Europe, Latin America, the Middle East and Southeast Asia.
(2) Other Developed includes Australia, Canada and Japan.


Vertical net sales information was as follows:
 
Three months ended
 
Nine months ended
In millions
September 30,
2019
September 30,
2018
 
September 30,
2019
September 30,
2018
Residential
$
395.5

$
397.6

 
$
1,230.1

$
1,247.3

Commercial
154.3

155.8

 
475.7

475.4

Industrial
163.8

158.0

 
496.2

501.9

Consolidated net sales
$
713.6

$
711.4

 
$
2,202.0

$
2,224.6



Performance obligations
On September 30, 2019, we had $62.8 million of remaining performance obligations on contracts with an original expected duration of one year or more. We expect to recognize the majority of our remaining performance obligations on these contracts within the next 12 to 18 months.

Contract assets and liabilities
Contract assets and liabilities consisted of the following:
In millions
September 30,
2019
December 31,
2018
 
$ Change
% Change
Contract assets
$
37.3

$
36.5

 
$
0.8

2.2
 %
Contract liabilities
34.4

32.8

 
1.6

4.9
 %
Net contract assets
$
2.9

$
3.7

 
$
(0.8
)
(21.6
)%

The $0.8 million decrease in net contract assets from December 31, 2018 to September 30, 2019 was primarily the result of timing of milestone payments. Approximately 80% of our contract liabilities at December 31, 2018 were recognized in revenue in the first nine months of 2019. There were no impairment losses recognized on our contract assets for the three months or nine months ended September 30, 2019.