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RESEARCH AND DEVELOPMENT (Tables) | 6 Months Ended
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Jun. 30, 2021
Research and Development [Abstract] |
Summary of research and development | Research and development costs consist of:
|  | Three Months Ended June 30, |  | Six Months Ended June 30,
(in millions) |  | 2021 |  | 2020 |  | 2021 |  | 2020
Product related research and development |  | $ | 109 |  |  | $ | 100 |  |  | $ | 214 |  |  | $ | 214 |
Quality assurance |  | 6 |  |  | 8 |  |  | 13 |  |  | 16 |
|  | $ | 115 |  |  | $ | 108 |  |  | $ | 227 |  |  | $ | 230 |

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