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Property, Plant and Equipment (Details) - USD ($)
$ in Millions
Mar. 31, 2018
Dec. 31, 2017
Property, Plant and Equipment    
Property, plant and equipment, gross $ 1,666 $ 1,576
Less accumulated depreciation 1,000 933
Total property, plant and equipment, net 666 643
Land, buildings and improvements    
Property, Plant and Equipment    
Property, plant and equipment, gross 341 329
Machinery and equipment    
Property, Plant and Equipment    
Property, plant and equipment, gross 859 799
Equipment held for lease or rental    
Property, Plant and Equipment    
Property, plant and equipment, gross 247 241
Furniture and fixtures    
Property, Plant and Equipment    
Property, plant and equipment, gross 117 101
Construction work in progress    
Property, Plant and Equipment    
Property, plant and equipment, gross 80 85
Other    
Property, Plant and Equipment    
Property, plant and equipment, gross $ 22 $ 21