RESTATEMENT OF PREVIOUSLY ISSUED CONSOLIDATED FINANCIAL STATEMENTS - Consolidated Statement of Income (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net sales	$ 2,802	$ 2,638
Cost of sales	1,639	1,558
Gross margin	1,163	1,080
Selling, general and administrative expenses	628	601
Research and development expenses	146	129
Other operating income, net	(20)	(33)
Operating income	409	383
Interest expense, net	21	18
Other (income) expense, net	10	(21)
Income before income taxes	378	386
Income tax expense	45	44
Net income	$ 333	$ 342
Earnings per share
Basic (in dollars per share)	$ 0.65	$ 0.67
Diluted (in dollars per share)	$ 0.64	$ 0.66
Weighted-average number of shares outstanding
Basic (in shares)	507	512
Diluted (in shares)	516	522
As previously reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net sales		$ 2,632
Cost of sales		1,552
Gross margin		1,080
Selling, general and administrative expenses		600
Research and development expenses		129
Other operating income, net		(33)
Operating income		384
Interest expense, net		18
Other (income) expense, net		(25)
Income before income taxes		391
Income tax expense		44
Net income		$ 347
Earnings per share
Basic (in dollars per share)		$ 0.68
Diluted (in dollars per share)		$ 0.66
Weighted-average number of shares outstanding
Basic (in shares)		512
Diluted (in shares)		522
Restatement impacts
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net sales		$ 6
Cost of sales		6
Gross margin		0
Selling, general and administrative expenses		1
Research and development expenses		0
Other operating income, net		0
Operating income		(1)
Interest expense, net		0
Other (income) expense, net	$ 4	4
Income before income taxes		(5)
Income tax expense		0
Net income		$ (5)
Earnings per share
Basic (in dollars per share)		$ (0.01)
Diluted (in dollars per share)		$ 0
Weighted-average number of shares outstanding
Basic (in shares)		0
Diluted (in shares)		0
Restatement impacts | Foreign Currency Denominated Monetary Assets and Liabilities
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Other (income) expense, net		$ 5
Restatement impacts | Equipment Leased to Customers under Operating Leases
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Cost of sales		2
Restatement impacts | Translation of the Financial Position and Results of Operations of our Foreign Operations into U.S. Dollars
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net sales		6
Cost of sales		4
Selling, general and administrative expenses		1
Restatement impacts | Foreign exchange contracts | Foreign Currency Derivative Contracts
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Other (income) expense, net		$ 1