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Financing Arrangements - Revolving credit agreement (Details) - USD ($)
$ in Millions
Oct. 11, 2016
Dec. 31, 2020
Foreign line of credit    
Long-term debt    
Unused operating lines of credit   $ 1,200
Revolving credit facility    
Long-term debt    
Debt instrument term 5 years  
Maximum borrowing capacity $ 1,000  
Borrowings outstanding   $ 0
Previously existing revolving credit agreement    
Long-term debt    
Maximum borrowing capacity $ 1,000