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Research and Development Expenditures (Tables) | 6 Months Ended
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Jun. 30, 2019
Research and Development [Abstract] |
Gross and net expenditures on research and development ("R&D") activities |
| Three Months Ended June 30, |  | Six Months Ended June 30,
(in millions) | 2019 |  | 2018 |  | 2019 |  | 2018
Gross R&D expenditures | $ | 128 |  |  | $ | 134 |  |  | $ | 249 |  |  | $ | 264 |
Customer reimbursements | (15 | ) |  | (22 | ) |  | (32 | ) |  | (35 | )
Net R&D expenditures | $ | 113 |  |  | $ | 112 |  |  | $ | 217 |  |  | $ | 229 |

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