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Research and Development Expenditures (Tables)
 9 Months Ended
Sep. 30, 2020
Research and Development [Abstract]  
Schedule of research and development costs
The following table presents the Company’s gross and net expenditures on R&D activities:
Three Months Ended September 30,Nine Months Ended September 30,
(in millions)2020201920202019
Gross R&D expenditures$115 $123 $336 $372 
Customer reimbursements(15)(21)(39)(53)
Net R&D expenditures$100 $102 $297 $319