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Research and Development Expenditures (Tables) | 3 Months Ended
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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 |

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