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Research and Development Costs (Tables) | 12 Months Ended
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Dec. 31, 2019
Research and Development [Abstract] |
Schedule of Research and Development Costs |
| Year Ended December 31,
(in millions) | 2019 |  | 2018 |  | 2017
Gross R&D expenditures | $ | 498 |  |  | $ | 512 |  |  | $ | 473 |
Customer reimbursements | (85 | ) |  | (72 | ) |  | (65 | )
Net R&D expenditures | $ | 413 |  |  | $ | 440 |  |  | $ | 408 |

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