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REVENUES - Additional Information (Details) - USD ($) $ in Millions | 9 Months Ended |  |  |  |
--- | --- | --- | --- | --- | ---
Sep. 30, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Net trade accounts receivable | $ 1,800 | $ 1,700 |  |  |
Sales-type lease, net of investment in lease | 119 |  |  |  |
Sales-type leases, receivables | $ 15 | $ 33 | $ 26 | $ 29 | $ 16
Minimum |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Global payment terms | 30 days |  |  |  |
Minimum | Software sales |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Revenue recognized contract period | 1 year |  |  |  |
Minimum | Consumable Medical Products |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Revenue recognized contract period | 1 year |  |  |  |
Maximum |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Global payment terms | 90 days |  |  |  |
Maximum | Contract manufacturing services |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Revenue recognized contract period | 90 days |  |  |  |
Maximum | Software sales |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Revenue recognized contract period | 5 years |  |  |  |
Maximum | Consumable Medical Products |  |  |  |  |
Revenue From Contract With Customer [Line Items] |  |  |  |  |
Revenue recognized contract period | 7 years |  |  |  |

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