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Revenue
 9 Months Ended
Sep. 30, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
We disaggregate our revenue from contracts with customers by segment, geographic location and vertical market, 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 15 for revenue disaggregated by segment.

Geographic net sales information, based on geographic destination of the sale, was as follows:
Three months endedNine months ended
In millionsSeptember 30,
2023		September 30,
2022		September 30,
2023		September 30,
2022
U.S.$696.6 $752.1 $2,170.0 $2,215.1 
Western Europe114.7 97.9 362.0 331.7 
Developing (1)
142.8 140.3 406.4 378.3 
Other Developed (2)
54.7 64.8 181.5 193.8 
Consolidated net sales$1,008.8 $1,055.1 $3,119.9 $3,118.9 
(1) Developing includes China, Eastern Europe, Latin America, the Middle East and Southeast Asia.
(2) Other Developed includes Australia, Canada and Japan.

Vertical market net sales information was as follows:
Three months endedNine months ended
In millionsSeptember 30,
2023		September 30,
2022		September 30,
2023		September 30,
2022
Residential$513.1 $637.0 $1,615.5 $2,050.1 
Commercial295.2 241.7 913.3 553.3 
Industrial200.5 176.4 591.1 515.5 
Consolidated net sales$1,008.8 $1,055.1 $3,119.9 $3,118.9 
Performance obligations
On September 30, 2023, we had $122.4 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 millionsSeptember 30,
2023		December 31,
2022		$ Change% Change
Contract assets$65.6 $48.4 $17.2 35.5 %
Contract liabilities60.8 58.1 2.7 4.6 %
Net contract assets (liabilities)
$4.8 $(9.7)$14.5 (149.5)%
The $14.5 million increase in net contract assets from December 31, 2022 to September 30, 2023 was primarily the result of timing of milestone payments. Approximately 85% of our contract liabilities at December 31, 2022 were recognized in revenue in the first nine months of 2023.