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Commitments and Contingencies | 9 Months Ended
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Sep. 26, 2020
Commitments and Contingencies Disclosure [Abstract] |
Commitments and Contingencies | Commitments and Contingencies Warranties 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):
| Nine Months Ended
| September 26, 2020 |  | September 28, 2019
Balance at the beginning of the period | $ | 21 |  |  | $ | 22 |
Warranty expense | 22 |  |  | 18 |
Warranties fulfilled | (20) |  |  | (18) |
Balance at the end of the period | $ | 23 |  |  | $ | 22 |
Contingencies The Company is subject to a variety of investigations, claims, suits, and other legal proceedings that arise from time to time in the ordinary course of business, including but not limited to, intellectual property, employment, tort, and breach of contract matters. The Company currently believes that the outcomes of such proceedings, individually and in the aggregate, will not have a material adverse impact on its business, cash flows, financial position, or results of operations. Any legal proceedings are subject to inherent uncertainties, and the Company’s view of these matters and their potential effects may change in the future. The Company establishes an accrued liability for loss contingencies when the loss is both probable and estimable.

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