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Income Taxes - Components of Income from Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
United States $ 84 $ 128 $ 166
Foreign 87 82 262
Income before income taxes $ 171 $ 210 $ 428