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Research and Development Expenditures (Tables)
 3 Months Ended
Mar. 31, 2019
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
March 31,
(in millions)
2019
 
2018
Gross R&D expenditures
$
121

 
$
130

Customer reimbursements
(17
)
 
(13
)
Net R&D expenditures
$
104

 
$
117