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Commitments and Contingencies (Tables)
 12 Months Ended
Dec. 31, 2018
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
2018
 
2017
 
2016
Beginning balance at January 1
$
4

 
$
5

 
$
6

Accruals for warranties issued
5

 
6

 
8

Settlements (in cash or kind)
(6
)
 
(7
)
 
(9
)
Balance at end of period
$
3

 
$
4

 
$
5
Committed Operating Leases Less Sublease Rentals
Future minimum operating lease payments and committed subleases under non-cancelable leases as of December 31, 2018, for the following fiscal years were: 
 
 
 
 
 
 
 
 
 
 
 
 
In millions
Total Amounts
 
2019
 
2020
 
2021
 
2022
 
2022 and Thereafter
Operating lease obligations
$
73

 
$
24

 
$
20

 
$
12

 
$
11

 
$
6

Sublease rentals
(10
)
 
(6
)
 
(4
)
 
—

 
—

 
—

Total committed operating leases less sublease rentals
$
63

 
$
18

 
$
16

 
$
12

 
$
11

 
$
6


The following table represents the Company’s actual rental expense and sublease rental income for the years ended December 31:
In millions
2018
 
2017
 
2016
Rental expense
$
24

 
$
24

 
$
24

Sublease rental income
$
6

 
$
5

 
$
3