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Research and Development Expenditures (Tables) | 3 Months Ended
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Mar. 31, 2019
Research and Development [Abstract] |
Gross and net expenditures on research and development ("R&D") activities |
| Three Months Ended March 31,
(in millions) | 2019 |  | 2018
Gross R&D expenditures | $ | 121 |  |  | $ | 130 |
Customer reimbursements | (17 | ) |  | (13 | )
Net R&D expenditures | $ | 104 |  |  | $ | 117 |

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