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Research and Development Expenditures (Tables)
 6 Months Ended
Jun. 30, 2019
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
(in millions)
2019
 
2018
 
2019
 
2018
Gross R&D expenditures
$
128

 
$
134

 
$
249

 
$
264

Customer reimbursements
(15
)
 
(22
)
 
(32
)
 
(35
)
Net R&D expenditures
$
113

 
$
112

 
$
217

 
$
229