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Research and Development Costs (Tables)
 12 Months Ended
Dec. 31, 2015
Research and Development [Abstract]  
Schedule of Research and Development Costs
 
 Year Ended December 31,
(millions of dollars)
2015
 
2014
 
2013
Gross R&D expenditures
$
386.2

 
$
392.8

 
$
350.4

Customer reimbursements
(78.8
)
 
(56.6
)
 
(47.2
)
Net R&D expenditures
$
307.4

 
$
336.2

 
$
303.2