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Research and Development Expenditures (Tables)
 9 Months Ended
Sep. 30, 2016
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
(in millions)
2016
 
2015
 
2016
 
2015
Gross R&D expenditures
$
106.1

 
$
95.6

 
$
311.1

 
$
282.2

Customer reimbursements
(17.5
)
 
(20.4
)
 
(52.2
)
 
(51.5
)
Net R&D expenditures
$
88.6

 
$
75.2

 
$
258.9

 
$
230.7