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Revenue (Tables)
3 Months Ended
Mar. 31, 2020
Revenue from Contract with Customer [Abstract]  
Disaggregation of Revenue [Table Text Block]
 
Three Months Ended
 
March 31,
 
2020
 
2019
Revenue recognized over time
$
1,475

 
$
1,365

Revenue recognized at a point in time
1,282

 
1,390

Total revenue
$
2,757

 
$
2,755


Net Contract Assets and Liabilities Net contract assets were as follows:
 
March 31, 2020
 
December 31, 2019
Contract assets included in prepaid and other current assets
$
32

 
$
30

Contract liabilities included in accrued liabilities
(4
)
 
(5
)
Net contract asset
$
28

 
$
25