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Commitments and Contingencies (Tables)
 12 Months Ended
Dec. 31, 2016
Commitments and Contingencies Disclosure [Abstract]  
Warranty Reserve Activity
The following table identifies the activity relating to the warranty reserve liability for the years ended December 31: 
In millions
2016
 
2015
 
2014
Beginning balance at January 1
$
6

 
$
7

 
$
8

Accruals for warranties issued
8

 
9

 
16

Settlements (in cash or kind)
(9
)
 
(10
)
 
(17
)
Balance at end of period
$
5

 
$
6

 
$
7
Committed Operating Leases Less Sublease Rentals
Future minimum operating lease payments and committed subleases under non-cancelable leases as of December 31, 2016, for the following fiscal years were: 
 
Total
 
 
 
 
 
 
 
 
 
 
In millions
Amounts
 
2017
 
2018
 
2019
 
2020
 
2021 and Thereafter
Operating lease obligations
$
67

 
$
22

 
$
18

 
$
10

 
$
6

 
$
11

Sublease rentals
(2
)
 
(2
)
 
—

 
—

 
—

 
—

Total committed operating leases less sublease rentals
$
65

 
$
20

 
$
18

 
$
10

 
$
6

 
$
11


The following table represents the Company’s actual rental expense and sublease rental income for the years ended December 31:
In millions
2016
 
2015
 
2014
Rental expense
$
24

 
$
26

 
$
26

Sublease rental income
$
3

 
$
3

 
$
3