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Research, Development & Engineering (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Research, Development & Engineering      
RD&E expense $ 6,333 $ 5,989 $ 5,379
Scientific research, application of scientific advances, services and application 6,039 5,657 5,027
Software-related expenses 3,732 3,541 3,050
Product-related engineering expenses $ 295 $ 334 $ 352