Does Buddhism have anything analogous to the Hindu concept of the 4 Yugas?

In Hindu cosmology, time is divided into four Yugas (Satya, Treta, Dvapara, Kali), with Satya Yuga, the first epoch described as a kind of utopian golden age and Kali Yuga as an age of decline and moral degradation—the one we are said to be living in now. My question is: - Does Buddhism have a similar concept of cyclical ages, especially a notion of a "golden age" vs. an "age of decline"? - If so, how is this described in Buddhist texts?