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RESEARCH AND DEVELOPMENT
 12 Months Ended
Dec. 31, 2023
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 2023, 2022 and 2021 consists of:
(in millions)202320222021
Product related research and development$573 $500 $440 
Quality assurance31 29 25 
Research and development$604 $529 $465