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Warranties (Tables)
 12 Months Ended
Dec. 31, 2016
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the years ended December 31, 2016, 2015, and 2014 are as follows:
 
December 31, 2016
 
December 31, 2015
 
December 31, 2014
 
(in millions)
Beginning balance
$
21.5

 
$
17.8

 
$
14.7

Warranty costs incurred
(9.4
)
 
(7.1
)
 
(6.1
)
Warranty originations and revisions
8.0

 
17.2

 
12.6

Warranty expirations
(4.4
)
 
(6.4
)
 
(3.4
)
Ending balance
$
15.7

 
$
21.5

 
$
17.8