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Warranties - Changes in the accruals for warranties (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Changes in the accruals for warranties        
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