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Revenue (Tables)
 9 Months Ended
Sep. 30, 2019
Revenue from Contract with Customer [Abstract]  
Disaggregation of Revenue [Table Text Block]
 
Three Months Ended
 
Nine Months Ended
 
September 30,
 
September 30,
 
2019
 
2018
 
2019
 
2018
Revenue recognized over time
$
1,474

 
$
1,524

 
$
4,335

 
$
4,459

Revenue recognized at a point in time
1,610

 
1,650

 
4,539

 
3,958

Total revenue
$
3,084

 
$
3,174

 
$
8,874

 
$
8,417
Net Contract Assets and Liabilities Net contract assets were as follows:
 
September 30, 2019
 
December 31, 2018
Contract assets included in prepaid and other current assets
$
31

 
$
16

Contract liabilities included in accrued liabilities
(5
)
 
(3
)
Contract liabilities included in other non-current liabilities
(1
)
 
(5
)
Net contract asset
$
25

 
$
8