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Research and Development Costs (Tables)
 12 Months Ended
Dec. 31, 2016
Research and Development [Abstract]  
Schedule of Research and Development Costs
 
 Year Ended December 31,
(millions of dollars)
2016
 
2015
 
2014
Gross R&D expenditures
$
417.8

 
$
386.2

 
$
392.8

Customer reimbursements
(74.6
)
 
(78.8
)
 
(56.6
)
Net R&D expenditures
$
343.2

 
$
307.4

 
$
336.2