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Property, Plant and Equipment
 12 Months Ended
Dec. 31, 2022
Property, Plant and Equipment [Abstract]  
Property, Plant and Equipment Property, Plant and Equipment
The components of total property, plant and equipment, net are as follows: 
December 31,
(in millions)20222021
Land, buildings and improvements$360 $370 
Machinery and equipment896 933 
Equipment held for lease or rental263 250 
Furniture and fixtures124 127 
Construction work in progress106 115 
Other38 31 
Total property, plant and equipment, gross1,787 1,826 
Less accumulated depreciation1,157 1,182 
Total property, plant and equipment, net$630 $644 
Depreciation expense was $111 million, $118 million, and $117 million for 2022, 2021, and 2020, respectively.