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Stock Incentive and Ownership Plans (Tables)
 12 Months Ended
Dec. 31, 2019
Free Cash Flow Performance-based DSU Awards, Fair Value Assumptions [Line Items]  
Free Cash Flow Performance-based DSU Awards, Fair Value Assumptions [Table Text Block]

The following table presents our assumptions used in determining the fair value of our AFCF awards currently expected to vest as of December 31, 2019:
 
2019 AFCF
 
2018 AFCF
 
2017 AFCF
Fair value, net of forfeitures to date (in millions)
$
8

 
$
11

 
$
6

Achievement of target payout
90
%
 
118
%
 
98
%
Year-end stock price used in determining fair value
$
45.22

 
$
35.34

 
$
24.79
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block]
The following presents the impact of stock-based compensation on our consolidated statements of operations:
 
Year Ended December 31,
(in millions, except per share data)
2019
 
2018
 
2017
Cost of products sold
$
8

 
$
7

 
$
7

Selling, general and administrative expenses
120

 
109

 
98

Research and development expenses
28

 
24

 
23

 
157

 
140

 
127

Income tax (benefit) expense
(24
)
 
(21
)
 
(32
)
 
$
133

 
$
119

 
$
96

Net impact per common share - basic
$
0.10

 
$
0.09

 
$
0.07

Net impact per common share - assuming dilution
$
0.09

 
$
0.08

 
$
0.07
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
We use the Black-Scholes option-pricing model to calculate the grant-date fair value of stock options granted to employees under our stock incentive plans. We calculated the fair value for options granted using the following estimated weighted-average assumptions:
 
Year Ended December 31,
 
2019
 
2018
 
2017
Options granted (in thousands)
2,992
 
 
3,491
 
 
4,439
 
Weighted-average exercise price
$
40.20
 
 
$
27.26
 
 
$
24.70
 
Weighted-average grant-date fair value
$
11.76
 
 
$
8.55
 
 
$
7.16
 
Black-Scholes Assumptions
 
 
 
 
 
 
 
 
 
 
 
Expected volatility
24
%
 
26
%
 
25
%
Expected term (in years, weighted)
6.1
 
 
6.0
 
 
6.1
 
Risk-free interest rate
1.38
%
-
2.61%
 
2.61
%
-
3.01%
 
2.03
%
-
2.21%
Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block] Information related to non-vested stock awards is as follows:
 
Non-Vested
Stock Award Units
(in thousands)
 
Weighted Average
Grant-Date
Fair Value
Balance as of December 31, 2016
18,797

 
$
14

Granted
4,798

 
24

Vested (1)
(7,663
)
 
11

Forfeited
(683
)
 
17

Balance as of December 31, 2017
15,250

 
$
18

Granted
4,375

 
28

Vested (1)
(6,194
)
 
16

Forfeited
(748
)
 
22

Balance as of December 31, 2018
12,683

 
$
22

Granted
3,656

 
39

Vested (1)
(4,811
)
 
20

Forfeited
(449
)
 
27

Balance as of December 31, 2019
11,079

 
$
29

(1)
The number of restricted stock units vested includes shares withheld on behalf of employees to satisfy statutory tax withholding requirements.
Schedule of Share-based Compensation, Employee Stock Purchase Plan, Activity [Table Text Block]
Information related to shares issued or to be issued in connection with the employee stock purchase plan based on employee contributions and the range of purchase prices is as follows:
 
Year Ended December 31,
 
2019
 
2018
 
2017
Shares issued or to be issued (in thousands)
2,196
 
 
2,452
 
 
2,491
 
Range of purchase prices
$
29.29

-
$36.47
 
$
21.49

-
$27.91
 
$
18.60

-
$21.07
Expense recognized (in millions)
$
19
 
 
$
17
 
 
$
13
 
Schedule of Unrecognized Compensation Cost, Nonvested Awards [Table Text Block]
We expect to recognize the following future expense for awards outstanding as of December 31, 2019:
 
 Unrecognized
 Compensation Cost
(in millions) (1)
 
Weighted Average Remaining
Vesting Period
(in years)
Stock options
$
35

 
 
Non-vested stock awards
169

 
 
 
$
204

 
1.2
(1)
Amounts presented represent compensation cost, net of estimated forfeitures.
Market-based awards, valuation assumptions [Table Text Block]
We determined the fair value of the market-based DSU awards to be approximately $10 million for 2019, $7 million for 2018 and $8 million for 2017. We determined these fair values based on Monte Carlo simulations as of the date of grant, utilizing the following assumptions:
 
2019
 
2018
 
2017
 
Awards
 
Awards
 
Awards
Stock price on date of grant
$
40.12

 
$
27.09

 
$
24.55

Measurement period (in years)
2.9

 
2.9

 
2.8

Risk-free rate
2.48
%
 
2.36
%
 
1.45
%
Share-based Compensation, Stock Options, Activity [Table Text Block]
Information related to stock options under stock incentive plans are as follows:
 
Stock Options
(in thousands)
 
Weighted
Average
Exercise Price
 
Weighted Average
Remaining
Contractual Life 
(in years)
 
Aggregate
Intrinsic
Value
(in millions)
Outstanding as of December 31, 2016
26,644

 
$
11

 
 
 
 
Granted
4,439

 
25

 
 
 
 
Exercised
(3,922
)
 
10

 
 
 
 
Cancelled/forfeited
(445
)
 
17

 
 
 
 
Outstanding as of December 31, 2017
26,716

 
$
13

 
 
 
 
Granted
3,491

 
27

 
 
 
 
Exercised
(4,385
)
 
11

 
 
 
 
Cancelled/forfeited
(519
)
 
22

 
 
 
 
Outstanding as of December 31, 2018
25,304

 
$
16

 
 
 
 
Granted
2,992

 
40

 
 
 
 
Exercised
(4,872
)
 
12

 
 
 
 
Cancelled/forfeited
(359
)
 
24

 
 
 
 
Outstanding as of December 31, 2019
23,065

 
$
19

 
5.5
 
$
594

Exercisable as of December 31, 2019
15,091

 
$
14

 
4.1
 
$
476

Expected to vest as of December 31, 2019
7,617

 
30

 
8.0
 
114

Total vested and expected to vest as of December 31, 2019
22,707

 
$
19

 
5.3
 
$
590