The following is a summary of revenue by category (in thousands):

There was no revenue and $0.9 million revenue recognized at a point in time for NRE services for the three and nine months ended September 30, 2023, respectively. There was $0.5 million recognized at a point in time for NRE services for the three and nine months ended September 30, 2022. For services performed on a customer’s owned asset, since the customer controls the asset being enhanced, revenue is recognized over time as services are rendered. There was $0.4 million and $0.5 million revenue recognized over time for NRE services primarily using a cost-based input method for the three months ended September 30, 2023 and 2022, respectively. Revenue recognized over time for NRE services primarily using a cost-based input method amounted to $0.9 million and $1.7 million for the nine months ended September 30, 2023 and 2022, respectively. The Company is allowed to bill for services performed under the contract in the event the contract is terminated.

The opening and closing balances of our contract asset and liability balances from contracts with customers as of September 30, 2023 and December 31, 2022 were as follows (in thousands):

Remaining performance obligations represent the revenue that is expected to be recognized in future periods related to performance obligations included in a contract that are unsatisfied, or partially satisfied, as of the end of a period. As of September 30, 2023 and December 31, 2022, deferred revenue (both current and noncurrent) of $2.4 million and $2.9 million, respectively, represents the Company’s remaining performance obligations, of which $2.4 million and $2.8 million, respectively, is expected to be recognized within one year, with the remainder to be recognized thereafter.

Revenues for the three and nine months ended September 30, 2023 and 2022, include the following (in thousands):