Titan is primarily composed of ice and rocky material, which is likely differentiated into a rocky core surrounded by various layers of ice, including a crust of ice Ih and a subsurface layer of ammonia-rich liquid water. Much as with Venus before the Space Age, the dense opaque atmosphere prevented understanding of Titan's surface until the "Cassini–Huygens" mission in 2004 provided new information, including the discovery of liquid hydrocarbon lakes in Titan's polar regions. The geologically young surface is generally smooth, with few impact craters, although mountains and several possible cryovolcanoes have been found.