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Warranties
 9 Months Ended
Sep. 30, 2016
Product Warranties Disclosures [Abstract]  
Warranties
Warranties
The changes in the accruals for warranties for the three and nine months ended September 30, 2016 and 2015 are as follows:
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
 
2016
 
2015
 
2016
 
2015
 
(in millions)
Beginning balance
$
18.2

 
$
20.5

 
$
21.5

 
$
17.8

Warranty costs incurred
(1.7
)
 
(2.0
)
 
(6.5
)
 
(5.4
)
Warranty originations and revisions
(0.4
)
 
5.8

 
4.0

 
14.8

Warranty expirations
(0.7
)
 
(1.7
)
 
(3.6
)
 
(4.6
)
Ending balance
$
15.4

 
$
22.6

 
$
15.4

 
$
22.6