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Warranty Reserves
 6 Months Ended
Jun. 30, 2018
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 Company's Condensed Consolidated Balance Sheets:
 
Three Months Ended June 30,
 
Six Months Ended June 30,
 
2018
 
2017
 
2018
 
2017
 
(in millions)
Balance at beginning of period
$
10.1

 
$
8.0

 
$
9.9

 
$
8.7

Warranty expense
3.4

 
4.1

 
7.5

 
8.1

Warranty claims paid
(3.7
)
 
(3.5
)
 
(7.7
)
 
(8.4
)
Foreign currency translation adjustments
(0.4
)
 
0.2

 
(0.3
)
 
0.4

Balance at end of period
$
9.4

 
$
8.8

 
$
9.4

 
$
8.8