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Warranties (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2017
Mar. 31, 2016
Changes in the accruals for warranties    
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