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Property, Plant and Equipment
 12 Months Ended
Dec. 31, 2020
Property, Plant and Equipment [Abstract]  
Property, Plant and Equipment Property, Plant and Equipment
The components of total property, plant and equipment, net are as follows: 
December 31,
(in millions)20202019
Land, buildings and improvements$369 $339 
Machinery and equipment941 861 
Equipment held for lease or rental241 256 
Furniture and fixtures124 118 
Construction work in progress110 104 
Other29 24 
Total property, plant and equipment, gross1,814 1,702 
Less accumulated depreciation1,157 1,044 
Total property, plant and equipment, net$657 $658 
Depreciation expense was $117 million, $117 million, and $117 million for 2020, 2019, and 2018, respectively.