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Warranties (Tables)
 3 Months Ended
Mar. 31, 2015
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, 2015 and 2014 are as follows:
 
Three Months Ended
March 31,
 
2015
 
2014
 
(in millions)
Beginning balance
$
17.8

 
$
14.7

Warranty costs incurred
(1.7
)
 
(0.8
)
Warranty originations and revisions
5.7

 
2.3

Warranty expirations
(1.4
)
 
(1.0
)
Ending balance
$
20.4

 
$
15.2