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Research and Development Expenditures (Tables)
 3 Months Ended
Mar. 31, 2020
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended March 31,
(in millions)
2020
 
2019
Gross R&D expenditures
$
118

 
$
121

Customer reimbursements
(9
)
 
(17
)
Net R&D expenditures
$
109

 
$
104