Commitments and Contingencies (Tables)

12 Months Ended

Dec. 31, 2015

Net rental expense under operating leases was as follows:



	Years ended December 31
In millions	2015			2014			2013
Gross rental expense	$	54.8		$	68.7		$	76.0
Sublease rental income	(0.9		)	(1.3		)	(0.9		)
Net rental expense	$	53.9		$	67.4		$	75.1

Net future minimum lease commitments

Future minimum lease commitments under non-cancelable operating leases, principally related to facilities, machinery, equipment and vehicles as of December 31, 2015 were as follows:



In millions	2016			2017			2018			2019			2020			Thereafter		Total
Minimum lease payments	$	45.1		$	33.4		$	25.3		$	20.2		$	15.1		$	23.3	$	162.4
Minimum sublease rentals	(0.8		)	(0.8		)	(0.5		)	(0.4		)	(0.2		)	—		(2.7		)
Net future minimum lease commitments	$	44.3		$	32.6		$	24.8		$	19.8		$	14.9		$	23.3	$	159.7

Changes in Carrying Amount of Service and Product Warranties

The changes in the carrying amount of service and product warranties for the years ended December 31, 2015 and 2014 were as follows:



	Years ended December 31
In millions	2015			2014
Beginning balance	$	66.4		$	56.0
Service and product warranty provision	61.7			75.3
Payments	(66.3		)	(62.1		)
Foreign currency translation	(2.0		)	(2.8		)
Ending balance	$	59.8		$	66.4