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Warranties (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Movement in Standard Product Warranty Accrual [Roll Forward]      
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