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Warranties (Tables)
 3 Months Ended
Mar. 31, 2018
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three months ended March 31, 2018 and 2017 are as follows:
 
Three Months Ended
March 31,
 
2018
 
2017
 
(in millions)
Beginning balance
$
12.7

 
$
15.7

Warranty costs incurred
(1.5
)
 
(1.7
)
Warranty originations and revisions
1.3

 
0.8

Warranty expirations
(0.3
)
 
(0.8
)
Ending balance
$
12.2

 
$
14.0