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Stock-Based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Summary of stock-based compensation expense      
Pre-tax stock-based compensation expense $ 41 $ 40 $ 36
Tax benefit (5) (5) (9)
Total stock-based compensation expense, net of tax $ 36 $ 35 $ 27