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Warranties - Changes in the accruals for warranties - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Movement in Standard Product Warranty Accrual [Roll Forward]      
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