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Warranties (Tables)
 6 Months Ended
Jun. 30, 2018
Product Warranties Disclosures [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three and six months ended June 30, 2018 and 2017 are as follows:
 
Three Months Ended
June 30,
 
Six Months Ended
June 30,
 
2018
 
2017
 
2018
 
2017
 
(in millions)
Beginning balance
$
12.2

 
$
14.0

 
$
12.7

 
$
15.7

Warranty costs incurred
(1.1
)
 
(2.4
)
 
(2.6
)
 
(4.1
)
Warranty originations and revisions
1.8

 
4.0

 
3.1

 
4.8

Warranty expirations
—

 
(0.8
)
 
(0.3
)
 
(1.6
)
Ending balance
$
12.9

 
$
14.8

 
$
12.9

 
$
14.8