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Restructuring (Tables)
12 Months Ended
Dec. 31, 2020
Restructuring and Related Activities [Abstract]  
Charges Related to Restructuring Program Activities by Type of Cost
The following table summarizes the charges related to restructuring program activities by type of cost:
Separation
Costs
Accelerated
Depreciation
OtherTotal
Year Ended December 31, 2020
Cost of sales$ $143 $32 $175 
Selling, general and administrative 44 3 47 
Research and development 81 2 83 
Restructuring costs385  193 578 
 $385 $268 $230 $883 
Year Ended December 31, 2019    
Cost of sales$— $198 $53 $251 
Selling, general and administrative— 33 34 
Research and development— 
Restructuring costs572 — 66 638 
 $572 $233 $122 $927 
Year Ended December 31, 2018    
Cost of sales$— $10 $11 $21 
Selling, general and administrative— 
Research and development— (13)15 
Restructuring costs473 — 159 632 
 $473 $(1)$186 $658 
Charges and Spending Relating to Restructuring Activities by Program
The following table summarizes the charges and spending relating to restructuring program activities:
Separation
Costs
Accelerated
Depreciation
OtherTotal
Restructuring reserves January 1, 2019
$443 $— $91 $534 
Expenses572 233 122 927 
(Payments) receipts, net(325)— (136)(461)
Non-cash activity— (233)(8)(241)
Restructuring reserves December 31, 2019
690 — 69 759 
Expenses385 268 230 883 
(Payments) receipts, net(508) (301)(809)
Non-cash activity (268)38 (230)
Restructuring reserves December 31, 2020 (1)
$567 $ $36 $603 
(1)    The remaining cash outlays are expected to be substantially completed by the end of 2023.