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Warranties
 9 Months Ended
Sep. 30, 2015
Product Warranties Disclosures [Abstract]  
Warranties
Warranties

The changes in the accruals for warranties for the three and nine months ended September 30, 2015 and 2014 are as follows:
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
 
2015
 
2014
 
2015
 
2014
 
(in millions)
Beginning balance
$
20.5

 
$
17.1

 
$
17.8

 
$
14.7

Warranty costs incurred
(2.0
)
 
(1.7
)
 
(5.4
)
 
(3.8
)
Warranty originations and revisions
5.8

 
4.3

 
14.8

 
10.9

Warranty expirations
(1.7
)
 
(0.7
)
 
(4.6
)
 
(2.8
)
Ending balance
$
22.6

 
$
19.0

 
$
22.6

 
$
19.0