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Commitments and Contingencies (Tables)
 12 Months Ended
Dec. 31, 2017
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
2017
 
2016
 
2015
Beginning balance at January 1
$
5

 
$
6

 
$
7

Accruals for warranties issued
6

 
8

 
9

Settlements (in cash or kind)
(7
)
 
(9
)
 
(10
)
Balance at end of period
$
4

 
$
5

 
$
6
Committed Operating Leases Less Sublease Rentals
Future minimum operating lease payments and committed subleases under non-cancelable leases as of December 31, 2017, for the following fiscal years were: 
 
 
 
 
 
 
 
 
 
 
 
 
In millions
Total Amounts
 
2018
 
2019
 
2020
 
2021
 
2022 and Thereafter
Operating lease obligations
$
81

 
$
27

 
$
20

 
$
16

 
$
8

 
$
10

Sublease rentals
(14
)
 
(6
)
 
(5
)
 
(3
)
 
—

 
—

Total committed operating leases less sublease rentals
$
67

 
$
21

 
$
15

 
$
13

 
$
8

 
$
10


The following table represents the Company’s actual rental expense and sublease rental income for the years ended December 31:
In millions
2017
 
2016
 
2015
Rental expense
$
24

 
$
24

 
$
26

Sublease rental income
$
5

 
$
3

 
$
3