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RESEARCH AND DEVELOPMENT
 12 Months Ended
Dec. 31, 2020
Research and Development [Abstract]  
RESEARCH AND DEVELOPMENT RESEARCH AND DEVELOPMENT
Included in Research and development are costs related to product development and quality assurance programs. Quality assurance are the costs incurred to meet evolving customer and regulatory standards. Research and development costs for the years 2020, 2019 and 2018 consists of:
(in millions)202020192018
Product related research and development$420 $434 $376 
Quality assurance32 37 37 
Research and development$452 $471 $413