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Income taxes - Significant Portions of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions | Dec. 31, 2019 | Dec. 31, 2018
--- | --- | ---
Deferred tax assets |  |
Tax loss carryforwards | $ 841.1 | $ 860.0
Postretirement benefits | 434.4 | 440.3
Foreign tax credit carryforwards | 211.5 | 221.6
Other tax credit carryforwards | 30.3 | 29.8
Deferred revenue | 42.8 | 37.1
Employee benefits and compensation | 31.2 | 31.1
Purchased capitalized software | 31.2 | 22.9
Depreciation | 28.1 | 20.1
Warranty, bad debts and other reserves | 5.9 | 4.8
Capitalized costs | 7.1 | 5.1
Other | 27.9 | 30.4
Total deferred tax assets, gross | 1,691.5 | 1,703.2
Valuation allowance | (1,524.7) | (1,547.5)
Total deferred tax assets | 166.8 | 155.7
Deferred tax liabilities |  |
Capitalized research and development | 44.7 | 36.1
Other | 29.0 | 30.2
Total deferred tax liabilities | 73.7 | 66.3
Net deferred tax assets | $ 93.1 | $ 89.4

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