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Research and Development Expenditures (Tables)
 9 Months Ended
Sep. 30, 2018
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)
2018
 
2017
 
2018
 
2017
Gross R&D expenditures
$
121.8

 
$
115.2

 
$
385.9

 
$
346.9

Customer reimbursements
(13.8
)
 
(13.7
)
 
(48.8
)
 
(44.1
)
Net R&D expenditures
$
108.0

 
$
101.5

 
$
337.1

 
$
302.8