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Commitments and Contingent Liabilities - Changes in Warranty Reserve (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Movement in Standard and Extended Product Warranty    
Warranty reserve, beginning of period $ 17 $ 22
Payments made during the period (29) (37)
Expense recorded during the period 31 33
Translation adjustment 0 (1)
Warranty reserve, end of period $ 19 $ 17