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Research and Development Expenditures (Tables)
 6 Months Ended
Jun. 30, 2016
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
(in millions)
2016
 
2015
 
2016
 
2015
Gross R&D expenditures
$
104.4

 
$
94.2

 
$
205.0

 
$
186.6

Customer reimbursements
(19.4
)
 
(14.1
)
 
(34.7
)
 
(31.1
)
Net R&D expenditures
$
85.0

 
$
80.1

 
$
170.3

 
$
155.5