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Warranties (Tables)
 12 Months Ended
Dec. 31, 2014
Commitments and Contingencies Disclosure [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the years ended December 31, 2014, 2013, and 2012 are as follows:

 
December 31, 2014
 
December 31, 2013
 
December 31, 2012
 
(in millions)
Beginning balance
$
14.7

 
$
12.5

 
$
13.5

Warranty costs incurred
(6.1
)
 
(5.9
)
 
(5.9
)
Warranty originations and revisions
12.6

 
11.9

 
7.7

Warranty expirations
(3.4
)
 
(3.8
)
 
(2.8
)
Ending balance
$
17.8

 
$
14.7

 
$
12.5