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Research and Development Expenditures (Tables)
 9 Months Ended
Sep. 30, 2019
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
(in millions)
2019
 
2018
 
2019
 
2018
Gross R&D expenditures
$
123

 
$
122

 
$
372

 
$
386

Customer reimbursements
(21
)
 
(14
)
 
(53
)
 
(49
)
Net R&D expenditures
$
102

 
$
108

 
$
319

 
$
337