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Warranties - Changes in the accruals for warranties (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Changes in the accruals for warranties        
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