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Warranties - Changes in the accruals for warranties (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Changes in the accruals for warranties    
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