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Warranties
 9 Months Ended
Sep. 30, 2018
Product Warranties Disclosures [Abstract]  
Warranties
Warranties
The changes in the accruals for warranties for the three and nine months ended September 30, 2018 and 2017 are as follows:
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
 
2018
 
2017
 
2018
 
2017
 
(in millions)
Beginning balance
$
12.9

 
$
14.8

 
$
12.7

 
$
15.7

Warranty costs incurred
(1.9
)
 
(2.5
)
 
(4.5
)
 
(6.6
)
Warranty originations and revisions
(0.3
)
 
2.1

 
2.8

 
6.9

Warranty expirations
(0.4
)
 
(0.8
)
 
(0.7
)
 
(2.4
)
Ending balance
$
10.3

 
$
13.6

 
$
10.3

 
$
13.6