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Research and Development Expenditures (Tables)
 3 Months Ended
Mar. 31, 2016
Research and Development [Abstract]  
Gross and net expenditures on research and development ("R&D") activities
 
Three Months Ended
March 31,
(in millions)
2016
 
2015
Gross R&D expenditures
$
100.6

 
$
92.4

Customer reimbursements
(15.3
)
 
(17.0
)
Net R&D expenditures
$
85.3

 
$
75.4