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Allowance for Losses on Financial Assets
12 Months Ended
Dec. 31, 2021
Credit Loss [Abstract]  
Credit Loss, Financial Instrument Allowances for Losses on Financial Assets
The change in allowances for expected credit losses for the years ended December 31, 2021 and 2020 consisted of the following:
Accounts receivableUnbilled receivablesOther Current AssetsCustomer financingOther AssetsTotal
Balance at January 1, 2020($138)($81)($38)($5)($75)($337)
Changes in estimates(314)(48)(34)(12)(66)(474)
Write-offs
Recoveries
Balance at December 31, 2020(444)(129)(72)(17)(140)(802)
Balance at January 1, 2021(444)(129)(72)(17)(140)(802)
Changes in estimates(24)(11)6 (1)(59)(89)
Write-offs77 49 4 13 143 
Recoveries1 1 
Balance at December 31, 2021($390)($91)($62)($18)($186)($747)