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Research and Development Expenditures (Tables)
 3 Months Ended
Mar. 31, 2017
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
March 31,
(in millions)
2017
 
2016
Gross R&D expenditures
$
112.0

 
$
100.6

Customer reimbursements
(15.6
)
 
(15.3
)
Net R&D expenditures
$
96.4

 
$
85.3