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Warranties
 3 Months Ended
Mar. 31, 2016
Product Warranties Disclosures [Abstract]  
Warranties
Warranties
The changes in the accruals for warranties for the three months ended March 31, 2016 and 2015 are as follows:
 
Three Months Ended
March 31,
 
2016
 
2015
 
(in millions)
Beginning balance
$
21.5

 
$
17.8

Warranty costs incurred
(2.8
)
 
(1.7
)
Warranty originations and revisions
1.6

 
5.7

Warranty expirations
(1.6
)
 
(1.4
)
Ending balance
$
18.7

 
$
20.4