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Warranties (Tables)
 9 Months Ended
Sep. 30, 2017
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three and nine months ended September 30, 2017 and 2016 are as follows:
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
 
2017
 
2016
 
2017
 
2016
 
(in millions)
Beginning balance
$
14.8

 
$
18.2

 
$
15.7

 
$
21.5

Warranty costs incurred
(2.5
)
 
(1.7
)
 
(6.6
)
 
(6.5
)
Warranty originations and revisions
2.1

 
(0.4
)
 
6.9

 
4.0

Warranty expirations
(0.8
)
 
(0.7
)
 
(2.4
)
 
(3.6
)
Ending balance
$
13.6

 
$
15.4

 
$
13.6

 
$
15.4