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Income taxes - Significant Portions of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions | Dec. 31, 2016 | Dec. 31, 2015
--- | --- | ---
Deferred tax assets |  |
Tax loss carryforwards | $ 889.6 | $ 854.5
Postretirement benefits | 728.9 | 695.7
Foreign tax credit carryforwards | 317.6 | 263.2
Other tax credit carryforwards | 91.4 | 86.7
Deferred revenue | 81.0 | 65.7
Employee benefits and compensation | 49.1 | 49.9
Purchased capitalized software | 32.6 | 39.5
Depreciation | 28.3 | 36.8
Warranty, bad debts and other reserves | 16.1 | 14.1
Capitalized costs | 10.9 | 13.0
Capitalized research and development | 0.0 | 3.2
Other | 27.7 | 39.7
Total deferred tax assets, gross | 2,273.2 | 2,162.0
Valuation allowance | (2,084.6) | (2,024.9)
Total deferred tax assets | 188.6 | 137.1
Deferred tax liabilities |  |
Capitalized research and development | 20.3 | 0.0
Other | 28.4 | 22.7
Total deferred tax liabilities | 48.7 | 22.7
Net deferred tax assets | $ 139.9 | $ 114.4

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