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Commitments and Contingencies (Tables)
 3 Months Ended
Mar. 31, 2017
Changes in Carrying Amount of Service and Product Warranties
The changes in the carrying amount of service and product warranties of continuing operations for the three months ended March 31, 2017 were as follows:  
In millions
March 31,
2017
Beginning balance
$
38.9

Service and product warranty provision
13.9

Payments
(12.6
)
Acquisitions
1.6

Foreign currency translation
0.2

Ending balance
$
42.0