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Research and Development Costs (Tables)
 12 Months Ended
Dec. 31, 2017
Research and Development [Abstract]  
Schedule of Research and Development Costs
 
 Year Ended December 31,
(millions of dollars)
2017
 
2016
 
2015
Gross R&D expenditures
$
473.1

 
$
417.8

 
$
386.2

Customer reimbursements
(65.6
)
 
(74.6
)
 
(78.8
)
Net R&D expenditures
$
407.5

 
$
343.2

 
$
307.4