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Research and Development Expenditures (Tables)
 9 Months Ended
Sep. 30, 2017
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)
2017
 
2016
 
2017
 
2016
Gross R&D expenditures
$
115.2

 
$
106.1

 
$
346.9

 
$
311.1

Customer reimbursements
(13.7
)
 
(17.5
)
 
(44.1
)
 
(52.2
)
Net R&D expenditures
$
101.5

 
$
88.6

 
$
302.8

 
$
258.9