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Warranties (Tables)
 3 Months Ended
Mar. 31, 2014
Commitments and Contingencies Disclosure [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three months ended March 31, 2014 and 2013 are as follows:

 
Three Months Ended
March 31,
 
2014
 
2013
 
(in millions)
Beginning balance
$
14.7

 
$
12.5

Warranty costs incurred
(0.8
)
 
(1.5
)
Warranty originations and revisions
2.3

 
2.6

Warranty expirations
(1.0
)
 
(1.0
)
Ending balance
$
15.2

 
$
12.6