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Accrued Warranty Costs (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Changes in product warranty liability [Roll Forward]    
Beginning balance $ 6.4 $ 6.2
Claims paid (0.2) (0.8)
Warranty expense 0.6 1.3
Ending balance $ 6.8 $ 6.7