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Warranties (Tables)
 6 Months Ended
Jun. 30, 2017
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three and six months ended June 30, 2017 and 2016 are as follows:
 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
 
2017
 
2016
 
2017
 
2016
 
(in millions)
Beginning balance
$
14.0

 
$
18.7

 
$
15.7

 
$
21.5

Warranty costs incurred
(2.4
)
 
(2.0
)
 
(4.1
)
 
(4.8
)
Warranty originations and revisions
4.0

 
2.8

 
4.8

 
4.4

Warranty expirations
(0.8
)
 
(1.3
)
 
(1.6
)
 
(2.9
)
Ending balance
$
14.8

 
$
18.2

 
$
14.8

 
$
18.2