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Long-term Debt and Credit Agreement - Scheduled Principal Repayments Under Senior Credit Facilities and Senior Notes (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Debt Disclosure [Abstract]    
2021 $ 40  
2022 57  
2023 232  
2024 5  
2025 446  
Thereafter 400  
Long-term debt, gross 1,180  
Amounts expected to be paid within one year 7 $ 22
Long-term debt noncurrent, gross $ 1,173