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Accrued Liabilities
 12 Months Ended
Dec. 31, 2016
Text Block [Abstract]  
Accrued Liabilities
Accrued Liabilities
Accrued liabilities consist of: 
(in millions) December 31,
2016

 
2015

Employee related expenses
$
95.4

 
$
83.1

Warranty
15.5

 
15.1

Advanced payment from customers
19.0

 
29.1

Other
93.2

 
91.3

Total
$
223.1

 
$
218.6


The Company accrues warranty liabilities when it is probable that a liability has been incurred and the amount of the loss can be reasonably estimated. Warranty provision is included in cost of sales in the Consolidated Statements of Operations.
A summary of the warranty liabilities is as follows:
(in millions) December 31,
2016

 
2015

Balance at beginning of period
$
15.1

 
$
15.5

Expense
14.5

 
12.1

Payments / deductions
(13.4
)
 
(12.7
)
Currency translation
(0.7
)
 
0.2

Balance at end of period
$
15.5

 
$
15.1