Chamber music is classical music performed by a small number of musicians, without a conductor. It originated as amateur music played at home for family and friends. In the Baroque era, chamber music featured contrapuntal melodies played by different instruments at different times. By the 18th century, people began inviting friends over to hire musicians to play chamber music for entertainment, the form most people associate with today. The three major composers of chamber music were Joseph Haydn, Wolfgang Mozart, and Ludwig van Beethoven, who established modern chamber music styles and forms through their many chamber works.