Ford (F) is fined up to $165 million after the National Highway Traffic Safety Administration ruled the company acted too slowly in recalling cars with faulty backup cameras.

The decision comes three years after NHTSA opened an investigation into whether Ford waited too long to recall 600,000 vehicles in 2020 related to faulty backup cameras. Drivers began reporting that year that the cameras sometimes showed a blank screen.

NHTSA said Ford violated federal regulations that require automakers to immediately notify the agency of any vehicle defects., and submit a quarterly report on the progress of the recall. The agency’s consent order says Ford failed to issue a “timely recall” and fail to submit quarterly reports on time.

The fine imposed on Ford, which must pay up to $165 million based on its compliance with the terms of the order, is one of the largest in NHTSA’s 54-year history. This is the second sanction imposed on the now bankrupt airbag manufacturer Takata, responsible for more than 30 dead and 400 injured worldwide.

Models covered by the Ford recall included the 2020 Ford Edge, Escape, Expedition, Explorer, F-150, Mustang, Ranger and Transit, as well as the Lincoln Corsair and Nautilus.

No deaths or injuries have been linked to the recall, according to Maria Buczkowski, Ford’s quality communications manager. Ford said in a statement that it would work with NHTSA to resolve the issue.

How much does Ford really have to pay?

Of the $165 million civil penalty imposed by NHTSA, Ford must immediately pay $65 million up front.

An additional $55 million in fees is subject to Ford complying with the terms of the consent order over the next three years.

The order requires Ford to spend the remaining $45 million on investments in advanced data tools and a new testing facility dedicated to examining rearview camera components.

Ford and NHTSA will meet quarterly to ensure compliance with the terms of the consent order.

The automaker is also required to review recent recalls to ensure they include all potentially affected vehicles, issue new recalls if necessary, and expedite recall decisions. NHTSA announced it was appointing an independent third party to make recommendations and ensure Ford complies with its recall obligations.

“Timely and accurate recalls are essential to keeping everyone safe on our roadways,” NHTSA Deputy Administrator Sophie Shulman said in a statement. “NHTSA is committed to ensuring manufacturers follow laws designed to keep our roadways safe.”

Car owners can check if their vehicles are affected by the recalls by searching for their vehicle identification number on Ford website.

For more CNN news and newsletters, create an account at CNN.com