Early Greeks lived in isolated mountainous regions along the coast, which led them to form independent city-states rather than a single large kingdom. The Minoans created an advanced civilization on Crete centered around their palace city of Knossos, while the warlike Mycenaeans later dominated mainland Greece from their fortified cities. These empires declined but the model of the autonomous polis or city-state took hold, with each having its own government, laws, and identity. Athenian democracy later emerged, even if initially only a small percentage of the population like adult male citizens could participate.