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Warranties
 6 Months Ended
Jun. 30, 2015
Commitments and Contingencies Disclosure [Abstract]  
Warranties
Warranties

The changes in the accruals for warranties for the three and six months ended June 30, 2015 and 2014 are as follows:
 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
 
2015
 
2014
 
2015
 
2014
 
(in millions)
Beginning balance
$
20.4

 
$
15.2

 
$
17.8

 
$
14.7

Warranty costs incurred
(1.7
)
 
(1.3
)
 
(3.4
)
 
(2.1
)
Warranty originations and revisions
3.3

 
4.3

 
9.0

 
6.6

Warranty expirations
(1.5
)
 
(1.1
)
 
(2.9
)
 
(2.1
)
Ending balance
$
20.5

 
$
17.1

 
$
20.5

 
$
17.1