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Warranties (Tables)
 6 Months Ended
Jun. 30, 2014
Commitments and Contingencies Disclosure [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three and six months ended June 30, 2014 and 2013 are as follows:

 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
 
2014
 
2013
 
2014
 
2013
 
(in millions)
Beginning balance
$
15.2

 
$
12.6

 
$
14.7

 
$
12.5

Warranty costs incurred
(1.3
)
 
(1.5
)
 
(2.1
)
 
(3.0
)
Warranty originations and revisions
4.3

 
3.4

 
6.6

 
6.0

Warranty expirations
(1.1
)
 
(1.0
)
 
(2.1
)
 
(2.0
)
Ending balance
$
17.1

 
$
13.5

 
$
17.1

 
$
13.5