Answer based on context:

After two straight road wins, the Steelers returned home for their second game of the season against the Ravens. The Steelers scored first in the first quarter when Ben Roethlisberger found Xavier Grimble on a 20-yard touchdown pass and a 7-0 lead. The Ravens closed out the first quarter with a Justin Tucker field goal from 41 yards out for a 7-3 lead. In the second quarter, Tucker kicked another field goal this one from 38 yards out to make the halftime score 7-6. In the third quarter, the Ravens moved into the lead when Joe Flacco found Steve Smith Sr. on an 18-yard touchdown pass with a successful two-point conversion to make it 14-7. The Steelers drew closer when Chris Boswell made a 36-yard field goal to make it 14-10. Though the Ravens moved back ahead by a touchdown when Tucker kicked a 46-yard field goal to make it 17-10. In the fourth quarter, Tucker kicked a 23-yard field goal to send the Ravens up by double digits and make the score 20-10. The Steelers eventually retook the lead with 2 straight touchdowns: Le'Veon Bell ran for one from 7-yards out followed by Roethlisberger finding Bell on a 7-yard pass to take the score to 24-20. The Ravens retook the lead when Kyle Juszczyk ran for a 10-yard touchdown to make it 27-24. However, the Steelers completed the comeback when Roethlisberger found Antonio Brown on a 4-yard pass to make the final score 31-27. With their four-game losing streak against the Ravens snapped, the Steelers improved to 10-5 and were awarded the AFC North division title. The team also won six games in a row for the first time since 2004.

How many total points were scored in the game?
58