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RESEARCH AND DEVELOPMENT (Tables) | 3 Months Ended
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Mar. 31, 2021
Research and Development [Abstract] |
Summary of research and development | Research and development costs for the three months ended March 31, 2021 and 2020 consist of:
(in millions) |  |  |  |  |  | 2021 |  | 2020
Product related research and development |  |  |  |  |  | $ | 105 |  |  | $ | 114 |
Quality assurance |  |  |  |  |  | 7 |  |  | 8 |
|  |  |  |  |  | $ | 112 |  |  | $ | 122 |

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