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Receivables, net, Contract Assets and Contract Liabilities
 12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Receivables, net, Contract Assets and Contract Liabilities Receivables, net, Contract Assets and Contract Liabilities
Receivables, net, contract assets and contract liabilities were as follows (in millions):
20232022
Receivables, net$2,132 $2,505 
Contract assets13,183 12,318 
Contract liabilities9,190 8,488 
Receivables, net consist of approximately $1.4 billion from the U.S. Government and $749 million from other governments and commercial customers as of December 31, 2023. Substantially all accounts receivable at December 31, 2023 are expected to be collected in 2024. We do not believe we have significant exposure to credit risk as the majority of our accounts receivable are due from the U.S. Government either as the ultimate customer or in connection with foreign military sales.
Contract assets are net of progress payments and performance based payments from our customers as well as advance payments from non-U.S. government customers totaling approximately $50.5 billion and $47.0 billion as of December 31, 2023 and 2022. Contract assets increased $865 million during 2023, primarily due to the recognition of revenue related to the satisfaction or partial satisfaction of performance obligations during 2023 for which we have not yet billed our customers (primarily on the F-35 program at Aeronautics). There were no significant credit or impairment losses related to our contract assets during 2023 and 2022. We expect to bill our customers for the majority of the December 31, 2023 contract assets during 2024.
Contract liabilities increased $702 million during 2023, primarily due to payments received in excess of revenue recognized on these performance obligations. During 2023, we recognized $5.1 billion of our contract liabilities at December 31, 2022 as revenue. During 2022, we recognized $4.8 billion of our contract liabilities at December 31, 2021 as revenue. During 2021, we recognized $4.5 billion of our contract liabilities at December 31, 2020 as revenue.