diff --git a/CHANGELOG.md b/CHANGELOG.md
index d19e379f..24369f91 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,7 +18,7 @@
 
 - `InteractionGroups` default value for `memberships` is now `GROUP_1` (#706)
 - `ImpulseJointSet::get_mut` has a new parameter `wake_up: bool`, to wake up connected bodies.
-- Removed unmaintained `instant` in favor of `web-time`.
+- Removed unmaintained `instant` in favor of `web-time`. This effectively removes the `wasm-bindgen` transitive dependency as it's no longer needed.
 
 ## v0.22.0 (20 July 2024)
 
diff --git a/src/counters/mod.rs b/src/counters/mod.rs
index 188f0785..43d4bd2b 100644
--- a/src/counters/mod.rs
+++ b/src/counters/mod.rs
@@ -1,5 +1,6 @@
 //! Counters for benchmarking various parts of the physics engine.
 
+use core::time::Duration;
 use std::fmt::{Display, Formatter, Result};
 
 pub use self::ccd_counters::CCDCounters;
@@ -76,11 +77,16 @@ impl Counters {
         }
     }
 
-    /// Total time spent for one  of the physics engine.
-    pub fn step_time(&self) -> f64 {
+    /// Total time spent for one of the physics engine.
+    pub fn step_time(&self) -> Duration {
         self.step_time.time()
     }
 
+    /// Total time spent for one of the physics engine, in milliseconds.
+    pub fn step_time_ms(&self) -> f64 {
+        self.step_time.time_ms()
+    }
+
     /// Notify that the custom operation has started.
     pub fn custom_started(&mut self) {
         if self.enabled {
@@ -96,10 +102,15 @@ impl Counters {
     }
 
     /// Total time of a custom event.
-    pub fn custom_time(&self) -> f64 {
+    pub fn custom_time(&self) -> Duration {
         self.custom.time()
     }
 
+    /// Total time of a custom event, in milliseconds.
+    pub fn custom_time_ms(&self) -> f64 {
+        self.custom.time_ms()
+    }
+
     /// Set the number of constraints generated.
     pub fn set_nconstraints(&mut self, n: usize) {
         self.solver.nconstraints = n;
@@ -129,7 +140,7 @@ impl Counters {
 }
 
 macro_rules! measure_method {
-    ($started:ident, $stopped:ident, $time:ident, $info:ident. $timer:ident) => {
+    ($started:ident, $stopped:ident, $time_ms:ident, $info:ident. $timer:ident) => {
         impl Counters {
             /// Start this timer.
             pub fn $started(&mut self) {
@@ -145,10 +156,10 @@ macro_rules! measure_method {
                 }
             }
 
-            /// Gets the time elapsed for this timer.
-            pub fn $time(&self) -> f64 {
+            /// Gets the time elapsed for this timer, in milliseconds.
+            pub fn $time_ms(&self) -> f64 {
                 if self.enabled {
-                    self.$info.$timer.time()
+                    self.$info.$timer.time_ms()
                 } else {
                     0.0
                 }
@@ -160,63 +171,63 @@ macro_rules! measure_method {
 measure_method!(
     update_started,
     update_completed,
-    update_time,
+    update_time_ms,
     stages.update_time
 );
 measure_method!(
     collision_detection_started,
     collision_detection_completed,
-    collision_detection_time,
+    collision_detection_time_ms,
     stages.collision_detection_time
 );
 measure_method!(
     island_construction_started,
     island_construction_completed,
-    island_construction_time,
+    island_construction_time_ms,
     stages.island_construction_time
 );
 measure_method!(
     solver_started,
     solver_completed,
-    solver_time,
+    solver_time_ms,
     stages.solver_time
 );
-measure_method!(ccd_started, ccd_completed, ccd_time, stages.ccd_time);
+measure_method!(ccd_started, ccd_completed, ccd_time_ms, stages.ccd_time);
 measure_method!(
     query_pipeline_update_started,
     query_pipeline_update_completed,
-    query_pipeline_update_time,
+    query_pipeline_update_time_ms,
     stages.query_pipeline_time
 );
 
 measure_method!(
     assembly_started,
     assembly_completed,
-    assembly_time,
+    assembly_time_ms,
     solver.velocity_assembly_time
 );
 measure_method!(
     velocity_resolution_started,
     velocity_resolution_completed,
-    velocity_resolution_time,
+    velocity_resolution_time_ms,
     solver.velocity_resolution_time
 );
 measure_method!(
     velocity_update_started,
     velocity_update_completed,
-    velocity_update_time,
+    velocity_update_time_ms,
     solver.velocity_update_time
 );
 measure_method!(
     broad_phase_started,
     broad_phase_completed,
-    broad_phase_time,
+    broad_phase_time_ms,
     cd.broad_phase_time
 );
 measure_method!(
     narrow_phase_started,
     narrow_phase_completed,
-    narrow_phase_time,
+    narrow_phase_time_ms,
     cd.narrow_phase_time
 );
 
diff --git a/src/counters/timer.rs b/src/counters/timer.rs
index 54bd0a3c..3ffef430 100644
--- a/src/counters/timer.rs
+++ b/src/counters/timer.rs
@@ -54,13 +54,18 @@ impl Timer {
     }
 
     /// The measured time between the last `.start()` and `.pause()` calls.
-    pub fn time(&self) -> f64 {
+    pub fn time(&self) -> Duration {
+        self.time
+    }
+
+    /// The measured time in milliseconds between the last `.start()` and `.pause()` calls.
+    pub fn time_ms(&self) -> f64 {
         self.time.as_secs_f64() * 1000.0
     }
 }
 
 impl Display for Timer {
     fn fmt(&self, f: &mut Formatter) -> Result<(), Error> {
-        write!(f, "{}s", self.time.as_secs_f32())
+        write!(f, "{}ms", self.time_ms())
     }
 }
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 9f1bf202..c4fa6880 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -393,7 +393,8 @@ impl TestbedApp {
 
                         // Skip the first update.
                         if k > 0 {
-                            timings.push(self.harness.physics.pipeline.counters.step_time.time());
+                            timings
+                                .push(self.harness.physics.pipeline.counters.step_time.time_ms());
                         }
                     }
                     results.push(timings);
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index c568495c..1c0421a0 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -360,72 +360,78 @@ fn scene_infos_ui(ui: &mut Ui, physics: &PhysicsState) {
 fn profiling_ui(ui: &mut Ui, counters: &Counters) {
     egui::CollapsingHeader::new(format!(
         "Total: {:.2}ms - {} fps",
-        counters.step_time(),
-        (1000.0 / counters.step_time()).round()
+        counters.step_time_ms(),
+        (1000.0 / counters.step_time_ms()).round()
     ))
     .id_source("total")
     .show(ui, |ui| {
         egui::CollapsingHeader::new(format!(
             "Collision detection: {:.2}ms",
-            counters.collision_detection_time()
+            counters.collision_detection_time_ms()
         ))
         .id_source("collision detection")
         .show(ui, |ui| {
-            ui.label(format!("Broad-phase: {:.2}ms", counters.broad_phase_time()));
+            ui.label(format!(
+                "Broad-phase: {:.2}ms",
+                counters.broad_phase_time_ms()
+            ));
             ui.label(format!(
                 "Narrow-phase: {:.2}ms",
-                counters.narrow_phase_time()
+                counters.narrow_phase_time_ms()
             ));
         });
-        egui::CollapsingHeader::new(format!("Solver: {:.2}ms", counters.solver_time()))
+        egui::CollapsingHeader::new(format!("Solver: {:.2}ms", counters.solver_time_ms()))
             .id_source("solver")
             .show(ui, |ui| {
                 ui.label(format!(
                     "Velocity assembly: {:.2}ms",
-                    counters.solver.velocity_assembly_time.time()
+                    counters.solver.velocity_assembly_time.time_ms()
                 ));
                 ui.label(format!(
                     "Velocity resolution: {:.2}ms",
-                    counters.velocity_resolution_time()
+                    counters.velocity_resolution_time_ms()
                 ));
                 ui.label(format!(
                     "Velocity integration: {:.2}ms",
-                    counters.solver.velocity_update_time.time()
+                    counters.solver.velocity_update_time.time_ms()
                 ));
                 ui.label(format!(
                     "Writeback: {:.2}ms",
-                    counters.solver.velocity_writeback_time.time()
+                    counters.solver.velocity_writeback_time.time_ms()
                 ));
             });
-        egui::CollapsingHeader::new(format!("CCD: {:.2}ms", counters.ccd_time()))
+        egui::CollapsingHeader::new(format!("CCD: {:.2}ms", counters.ccd_time_ms()))
             .id_source("ccd")
             .show(ui, |ui| {
                 ui.label(format!("# of substeps: {}", counters.ccd.num_substeps));
                 ui.label(format!(
                     "TOI computation: {:.2}ms",
-                    counters.ccd.toi_computation_time.time(),
+                    counters.ccd.toi_computation_time.time_ms(),
                 ));
                 ui.label(format!(
                     "Broad-phase: {:.2}ms",
-                    counters.ccd.broad_phase_time.time()
+                    counters.ccd.broad_phase_time.time_ms()
                 ));
                 ui.label(format!(
                     "Narrow-phase: {:.2}ms",
-                    counters.ccd.narrow_phase_time.time(),
+                    counters.ccd.narrow_phase_time.time_ms(),
+                ));
+                ui.label(format!(
+                    "Solver: {:.2}ms",
+                    counters.ccd.solver_time.time_ms()
                 ));
-                ui.label(format!("Solver: {:.2}ms", counters.ccd.solver_time.time()));
             });
         ui.label(format!(
             "Island computation: {:.2}ms",
-            counters.island_construction_time()
+            counters.island_construction_time_ms()
         ));
         ui.label(format!(
             "Query pipeline: {:.2}ms",
-            counters.query_pipeline_update_time()
+            counters.query_pipeline_update_time_ms()
         ));
         ui.label(format!(
             "User changes: {:.2}ms",
-            counters.stages.user_changes.time()
+            counters.stages.user_changes.time_ms()
         ));
     });
 }