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Warranties (Tables)
 12 Months Ended
Dec. 31, 2017
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the years ended December 31, 2017, 2016, and 2015 are as follows:
 
December 31, 2017
 
December 31, 2016
 
December 31, 2015
 
(in millions)
Beginning balance
$
15.7

 
$
21.5

 
$
17.8

Warranty costs incurred
(8.5
)
 
(9.4
)
 
(7.1
)
Warranty originations and revisions
9.0

 
8.0

 
17.2

Warranty expirations
(3.5
)
 
(4.4
)
 
(6.4
)
Ending balance
$
12.7

 
$
15.7

 
$
21.5