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RESEARCH AND DEVELOPMENT
6 Months Ended
Jun. 30, 2021
Research and Development [Abstract]  
RESEARCH AND DEVELOPMENT RESEARCH AND DEVELOPMENT
Included in Research and development are costs related to product development and quality assurance programs. Quality assurance are the costs incurred to meet evolving customer and regulatory standards. Research and development costs consist of:
Three Months Ended
June 30,
Six Months Ended
June 30,
(in millions)2021202020212020
Product related research and development$109 $100 $214 $214 
Quality assurance13 16 
$115 $108 $227 $230