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Warranty Reserves
 9 Months Ended
Sep. 30, 2019
Product Warranties Disclosures [Abstract]  
Warranty Reserves Warranty Reserves
A reserve for estimated warranty costs is recorded at the time of sale of machinery and parts and is periodically adjusted to reflect actual experience.
The following table summarizes changes in the Company’s warranty reserves for the periods indicated. Accrued warranty reserves are included in other current liabilities in the Condensed Consolidated Balance Sheets:
 
Three Months Ended September 30,
 
Nine Months Ended September 30,
 
2019
 
2018
 
2019
 
2018
 
(in millions)
Balance at beginning of period
$
9.9

 
$
9.2

 
$
8.7

 
$
9.7

Warranty expense
1.9

 
1.5

 
9.2

 
8.3

Warranty claims paid
(3.3
)
 
(1.9
)
 
(9.5
)
 
(8.9
)
Foreign currency translation adjustments
(0.2
)
 
—

 
(0.1
)
 
(0.3
)
Balance at end of period
$
8.3

 
$
8.8

 
$
8.3

 
$
8.8