The Pax Romana (Latin for "Roman peace") is a roughly 200-year-long timespan of Roman history which is identified as a period and golden age of increased and sustained Roman imperialism, relative peace and order, prosperous stability, hegemonial power, and regional expansion. This is despite several revolts and wars, and continuing competition with Parthia. It is traditionally dated as commencing with the accession of Augustus, founder of the Roman principate, in 27 BC and concluding in 180 AD with the death of Marcus Aurelius, the last of the "Five Good Emperors". Since it was inaugurated by Augustus at the end of the final war of the Roman Republic, it is sometimes also called the Pax Augusta. During this period of about two centuries, the Roman Empire achieved its greatest territorial extent, and its population reached a maximum of up to 70 million people, which was around 33% of world's population . According to Cassius Dio, the dictatorial reign of Commodus, later followed by the Year of the Five Emperors and the Crisis of the Third Century, marked the descent "from a kingdom of gold to one of iron and rust". The Pax Romana is said to have been a "miracle" because prior to it there had never been peace for so many years in a given period of history. However, Walter Goffart wrote: "The volume of the Cambridge Ancient History for the years AD 70–192 is called 'The Imperial Peace', but peace is not what one finds in its pages". Arthur M. Eckstein writes that the period must be seen in contrast to the much more frequent warfare in the Roman Republic in the 4th and 3rd centuries BC. Eckstein also notes that the incipient Pax Romana appeared during the Republic, and that its temporal span varied with geographical region as well: "Although the standard textbook dates for the Pax Romana, the famous “Roman Peace” in the Mediterranean, are 31 BC to AD 250, the fact is that the Roman Peace was emerging in large regions of the Mediterranean at a much earlier date: Sicily after 210 [BC], the Italian Peninsula after 200 [BC]; the Po Valley after 190 [BC]; most of the Iberian Peninsula after 133 [BC]; North Africa after 100 [BC]; and for ever longer stretches of time in the Greek East.