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RESEARCH AND DEVELOPMENT (Tables) | 9 Months Ended
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Sep. 30, 2021
Research and Development [Abstract] |
Summary of research and development | Research and development costs consist of:
|  | Three Months Ended September 30, |  | Nine Months Ended September 30,
(in millions) |  | 2021 |  | 2020 |  | 2021 |  | 2020
Product related research and development |  | $ | 114 |  |  | $ | 95 |  |  | $ | 328 |  |  | $ | 309 |
Quality assurance |  | 7 |  |  | 8 |  |  | 20 |  |  | 24 |
|  | $ | 121 |  |  | $ | 103 |  |  | $ | 348 |  |  | $ | 333 |

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