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Warranties - Changes in the accruals for warranties (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Movement in Standard Product Warranty Accrual [Roll Forward]      
Beginning balance $ 10.1 $ 12.0 $ 18.6
Warranty costs incurred (2.8) (4.8) (7.8)
Warranty originations and revisions 0.1 4.8 2.9
Warranty expirations 0.0 (1.9) (1.7)
Ending balance $ 7.4 $ 10.1 $ 12.0