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Revenue (Tables)
 6 Months Ended
Jun. 30, 2019
Revenue from Contract with Customer [Abstract]  
Disaggregation of Revenue [Table Text Block]
 
Three Months Ended
 
Six Months Ended
 
June 30,
 
June 30,
 
2019
 
2018
 
2019
 
2018
Revenue recognized over time
$
1,496

 
$
1,508

 
$
2,861

 
$
2,935

Revenue recognized at a point in time
1,539

 
1,538

 
2,929

 
2,308

Total revenue
$
3,035

 
$
3,046

 
$
5,790

 
$
5,243
Net Contract Assets and Liabilities Net contract assets were as follows:
 
June 30, 2019
 
December 31, 2018
Contract assets included in prepaid and other current assets
$
22

 
$
16

Contract liabilities included in accrued liabilities
(4
)
 
(3
)
Contract liabilities included in other non-current liabilities
(3
)
 
(5
)
Net contract asset
$
15

 
$
8