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Product Warranty (Tables)
 9 Months Ended
Sep. 30, 2020
Product Warranties Disclosures [Abstract]  
Schedule of product warranty liability
The following table summarizes the activity in the product warranty accrual accounts:
(in millions)20202019
Beginning balance, January 1$116 $103 
Provisions for current period sales36 36 
Adjustments of prior estimates14 9 
Payments(41)(43)
Translation adjustment 2 (4)
Ending balance, September 30$127 $101 

The product warranty liability is classified in the Condensed Consolidated Balance Sheets as follows:
September 30,December 31,
(in millions)20202019
Accounts payable and accrued expenses$73 $63 
Other non-current liabilities54 53 
Total product warranty liability$127 $116