The Solar System consists of the Sun and its planetary system of eight planets, their moons, and other non-stellar objects. It formed 4.6 billion years ago from the gravitational collapse of a giant molecular cloud. The vast majority of the system's mass is in the Sun, with most of the remaining mass contained in Jupiter. The four smaller inner planets, the terrestrial planets, are primarily composed of rock and metal. The four outer planets, the giant planets, are substantially more massive than the terrestrials. The Solar System also contains a number of regions populated by smaller objects. The asteroid belt, which lies between Mars and Jupiter, is composed of material similar to that of the terrestrial planets. Beyond Neptune's orbit lie the Kuiper belt and scattered disc, linked populations of trans-Neptunian objects composed mostly of ices. These populations include objects large enough to have been rounded by their own gravity, termed dwarf planets. Identified dwarf planets include the asteroid Ceres and the trans-Neptunian objects Pluto, Eris, Haumea, and Makemake. Six of the planets, at least three of the dwarf planets, and many of the smaller bodies are orbited by natural satellites, usually termed "moons" after the Moon, Earth's natural satellite.