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Warranties
 3 Months Ended
Mar. 31, 2017
Product Warranties Disclosures [Abstract]  
Warranties
Warranties
The changes in the accruals for warranties for the three months ended March 31, 2017 and 2016 are as follows:
 
Three Months Ended
March 31,
 
2017
 
2016
 
(in millions)
Beginning balance
$
15.7

 
$
21.5

Warranty costs incurred
(1.7
)
 
(2.8
)
Warranty originations and revisions
0.8

 
1.6

Warranty expirations
(0.8
)
 
(1.6
)
Ending balance
$
14.0

 
$
18.7