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Research and Development Expenditures (Tables) | 3 Months Ended
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Mar. 31, 2017
Research and Development [Abstract] |
Gross and net expenditures on research and development ("R&D") activities |
| Three Months Ended March 31,
(in millions) | 2017 |  | 2016
Gross R&D expenditures | $ | 112.0 |  |  | $ | 100.6 |
Customer reimbursements | (15.6 | ) |  | (15.3 | )
Net R&D expenditures | $ | 96.4 |  |  | $ | 85.3 |

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