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Commitments and Contingencies (Tables)
 3 Months Ended
Mar. 28, 2020
Commitments and Contingencies Disclosure [Abstract]  
Summary of Accrued Warranty Obligation
The following table is a summary of the Company’s accrued warranty obligations, which are included in Accrued liabilities on the Consolidated Balance Sheets (in millions):
 
Three Months Ended
 
March 28,
2020
 
March 30,
2019
Balance at the beginning of the period
$
21

 
$
22

Warranty expense
8

 
7

Warranties fulfilled
(7
)
 
(6
)
Balance at the end of the period
$
22

 
$
23