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Commitments and Contingencies (Tables)
 12 Months Ended
Dec. 31, 2016
Commitments and Contingencies Disclosure [Abstract]  
Total rent expense under operating leases Total rent expense for the three years ended December 31, 2016 was as follows:
(in millions)
Total
2016
63

2015
59

2014
73
Minimum rental payments under operating leases At December 31, 2016, we are obligated to make minimum rental payments under operating leases which are as follows:
(in millions)
2017
 
2018
 
2019
 
2020
 
2021
 
Thereafter
Minimum rental payments
$
65

 
$
52

 
$
38

 
$
27

 
$
18

 
$
23
Changes in product warranty accrual The table below provides changes in the combined current and non-current product warranty accruals over each period.
(in millions)
2016
 
2015
Warranty accrual – January 1
$
33

 
$
31

Net charges for product warranties in the period
32

 
32

Settlement of warranty claims
(31
)
 
(29
)
Warranty accrual acquired
66

 
—

Foreign currency and other
(1
)
 
(1
)
Warranty accrual – December 31
$
99

 
$
33