Journey is an American rock band that formed in San Francisco in 1973, composed of former members of Santana and Frumious Bandersnatch. The band has gone through several phases; its strongest commercial success occurred between 1978 and 1987. During that period, the band released a series of hit songs, including "Don't Stop Believin'" (1981), which in 2009 became the top-selling track in iTunes history among songs not released in the 21st century. Its parent studio album, Escape, the band's eighth and most successful, reached No. 1 on the Billboard 200 and yielded another of their most popular singles, "Open Arms".

With Cain on board, the band began writing material that would eventually lead up to Journey's biggest studio album, "Escape". Recording sessions began in April 1981, and lasted until the middle of June. Escape was released on July 31, 1981, and immediately the album became a mainstream success. The album, which has thus far sold nine times platinum, went to number one on the album charts later that year, and included three top-ten hits: "Who's Cryin' Now", "Don't Stop Believin'" and "Open Arms". The last is Journey's highest-charting single to date, staying at No. 2 for six consecutive weeks and ranking at No.34 on Billboard's 1982 year-end Hot 100. MTV videotaped one of their two sold-out shows in Houston on November 6, 1981, in front of over 20,000 fans. Capitalizing on their success, the band recorded radio commercials for Budweiser and sold rights to their likenesses and music for use in two video games: the Journey arcade game by Bally/Midway and Journey Escape by Data Age for the Atari 2600. This success was met with criticism. The 1983 Rolling Stone Record Guide gave each of the band's albums only one star, with Dave Marsh writing that "Journey was a dead end for San Francisco area rock." Marsh later would anoint Escape as one of the worst number-one albums of all time. Journey's next album, Frontiers (1983), continued their commercial success, reaching No. 2 on the album charts, selling nearly six million copies. The album generated four Top 40 hits, "Separate Ways (Worlds Apart)", which reached No. 8, "Faithfully", which reached No. 12, "Send Her My Love" and "After the Fall", both of which reached No. 23. By this time, Journey had become one of the top touring and recording bands in the world. During the subsequent stadium tour, the band contracted with NFL Films to record a video documentary of their life on the road, Frontiers and Beyond. Scenes from the documentary were shot at JFK Stadium in Philadelphia, Pennsylvania with more than 80,000 fans in attendance.Answer this question using a quote from the following article:

Was Frontiers successful?
reaching No. 2 on the album charts, selling nearly six million copies.