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Warranties
 12 Months Ended
Dec. 31, 2015
Product Warranties Disclosures [Abstract]  
Warranties
Warranties
The changes in the accruals for warranties for the years ended December 31, 2015, 2014, and 2013 are as follows:
 
December 31, 2015
 
December 31, 2014
 
December 31, 2013
 
(in millions)
Beginning balance
$
17.8

 
$
14.7

 
$
12.5

Warranty costs incurred
(7.1
)
 
(6.1
)
 
(5.9
)
Warranty originations and revisions
17.2

 
12.6

 
11.9

Warranty expirations
(6.4
)
 
(3.4
)
 
(3.8
)
Ending balance
$
21.5

 
$
17.8

 
$
14.7