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Warranties - Changes in the accruals for warranties (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Changes in the accruals for warranties        
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 0.0 (0.8) (0.3) (1.6)
Ending balance $ 12.9 $ 14.8 $ 12.9 $ 14.8