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Stock-Based Compensation - Compensation (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Amounts recognized in the financial statements |  |  |  |
Stock-based compensation programs expense | $ 53 | $ 52 | $ 184 | $ 172
Income tax benefits | (25) | (15) | (76) | (54)
Stock-based compensation expenses (benefits), net of tax | 28 | 37 | 108 | 118
Cost of sales |  |  |  |
Amounts recognized in the financial statements |  |  |  |
Stock-based compensation programs expense | 9 | 10 | 31 | 32
Selling, general and administrative expenses |  |  |  |
Amounts recognized in the financial statements |  |  |  |
Stock-based compensation programs expense | 37 | 35 | 121 | 108
Research, development and related expenses |  |  |  |
Amounts recognized in the financial statements |  |  |  |
Stock-based compensation programs expense | $ 7 | $ 7 | $ 32 | $ 32

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