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RESEARCH AND DEVELOPMENT
 3 Months Ended
Mar. 31, 2021
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 three months ended March 31, 2021 and 2020 consist of:
(in millions)20212020
Product related research and development$105 $114 
Quality assurance7 8 
$112 $122