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Research and Development Costs (Tables)
 12 Months Ended
Dec. 31, 2019
Research and Development [Abstract]  
Schedule of Research and Development Costs
 
 Year Ended December 31,
(in millions)
2019
 
2018
 
2017
Gross R&D expenditures
$
498

 
$
512

 
$
473

Customer reimbursements
(85
)
 
(72
)
 
(65
)
Net R&D expenditures
$
413

 
$
440

 
$
408