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Warranties (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Changes in the accruals for warranties        
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