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Lease Commitments (Tables)
 12 Months Ended
Dec. 31, 2017
Lease Commitments [Abstract]  
Schedule of future minimum lease payments required under operating leases
Future minimum lease payments required under operating leases with initial or remaining noncancelable terms in excess of one year as of December 31, 2017 were as follows:
(millions)
2018
 
2019
 
2020
 
2021
 
2022
 
After 2022
Future minimum lease payments
$
36

 
$
31

 
$
25

 
$
19

 
$
10

 
$
9