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Derivative Instruments (Details) - Undesignated derivative instruments
kr in Millions, $ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Jul. 31, 2018
USD ($)
Feb. 28, 2018
USD ($)
Sep. 30, 2018
USD ($)
Sep. 30, 2018
USD ($)
Sep. 30, 2018
NOK (kr)
Sep. 30, 2018
USD ($)
Jan. 30, 2018
USD ($)
Forward exchange contracts              
Derivatives              
Exchange rate (as a percent)         7.96 7.96  
Fair value adjustments to derivatives     $ (3) $ (3)      
Derivative instruments, liabilities           $ 2  
Derivative instruments, assets             $ 4
Forward exchange contracts | Songa              
Derivatives              
Fair value adjustments to derivatives       (1)      
Forward exchange contracts | Pay              
Derivatives              
Aggregate notional amount           $ 113  
Forward exchange contracts | Receive              
Derivatives              
Aggregate notional amount | kr         kr 900    
Interest rate swaps              
Derivatives              
Fair value adjustments to derivatives     $ (1) 4      
Derivative instruments, assets             14
Cash proceeds from termination of derivatives $ 18            
Currency swaps              
Derivatives              
Derivative instruments, liabilities             $ 81
Loss associated with termination       $ (11)      
Cash payment for termination of derivatives   $ 92