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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