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Commitments and Contingencies (Tables) | 3 Months Ended
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Mar. 28, 2020
Commitments and Contingencies Disclosure [Abstract] |
Summary of Accrued Warranty Obligation | The following table is a summary of the Company’s accrued warranty obligations, which are included in Accrued liabilities on the Consolidated Balance Sheets (in millions):
| Three Months Ended
| March 28, 2020 |  | March 30, 2019
Balance at the beginning of the period | $ | 21 |  |  | $ | 22 |
Warranty expense | 8 |  |  | 7 |
Warranties fulfilled | (7 | ) |  | (6 | )
Balance at the end of the period | $ | 22 |  |  | $ | 23 |

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- Definition Tabular disclosure of the changes in the guarantor's aggregate product warranty liability, including the beginning balance of the aggregate product warranty liability, the aggregate reductions in that liability for payments made (in cash or in kind) under the warranty, the aggregate changes in the liability for accruals related to product warranties issued during the reporting period, the aggregate changes in the liability for accruals related to preexisting warranties (including adjustments related to changes in estimates), and the ending balance of the aggregate product warranty liability. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 460 -SubTopic 10 -Section 50 -Paragraph 8 -URI http://asc.fasb.org/extlink&oid=68068213&loc=d3e12565-110249 + Details
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