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Warranties (Tables)
 6 Months Ended
Jun. 30, 2016
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three and six months ended June 30, 2016 and 2015 are as follows:
 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
 
2016
 
2015
 
2016
 
2015
 
(in millions)
Beginning balance
$
18.7

 
$
20.4

 
$
21.5

 
$
17.8

Warranty costs incurred
(2.0
)
 
(1.7
)
 
(4.8
)
 
(3.4
)
Warranty originations and revisions
2.8

 
3.3

 
4.4

 
9.0

Warranty expirations
(1.3
)
 
(1.5
)
 
(2.9
)
 
(2.9
)
Ending balance
$
18.2

 
$
20.5

 
$
18.2

 
$
20.5