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Research and Development Expenditures (Tables) | 6 Months Ended
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Jun. 30, 2017
Research and Development [Abstract] |
Gross and net expenditures on research and development ("R&D") activities |
| Three Months Ended June 30, |  | Six Months Ended June 30,
(in millions) | 2017 |  | 2016 |  | 2017 |  | 2016
Gross R&D expenditures | $ | 119.7 |  |  | $ | 104.4 |  |  | $ | 231.7 |  |  | $ | 205.0 |
Customer reimbursements | (14.8 | ) |  | (19.4 | ) |  | (30.4 | ) |  | (34.7 | )
Net R&D expenditures | $ | 104.9 |  |  | $ | 85.0 |  |  | $ | 201.3 |  |  | $ | 170.3 |

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