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Commitments and Contingencies (Tables)
 12 Months Ended
Dec. 31, 2016
Commitments and Contingencies Disclosure [Abstract]  
Net rental expense
Net rental expense under operating leases was as follows:
 
Years ended December 31
In millions
2016
2015
2014
Gross rental expense
$
37.5

$
26.4

$
38.2

Sublease rental income
(0.7
)
(0.4
)
(1.0
)
Net rental expense
$
36.8

$
26.0

$
37.2
Net future minimum lease commitments
Future minimum lease commitments under non-cancelable operating leases, principally related to facilities, machinery, equipment and vehicles as of December 31, 2016 were as follows:
In millions
2017
2018
2019
2020
2021
Thereafter
Total
Minimum lease payments
$
31.0

$
24.7

$
20.1

$
14.8

$
11.1

$
12.5

$
114.2

Minimum sublease rentals
(1.2
)
(0.8
)
(0.8
)
(0.4
)
(0.4
)
(0.3
)
(3.9
)
Net future minimum lease commitments
$
29.8

$
23.9

$
19.3

$
14.4

$
10.7

$
12.2

$
110.3
Changes in Carrying Amount of Service and Product Warranties
The changes in the carrying amount of service and product warranties for the years ended December 31, 2016 and 2015 were as follows:
 
Years ended December 31
In millions
2016
2015
Beginning balance
$
47.0

$
51.8

Service and product warranty provision
59.7

56.6

Payments
(67.3
)
(60.4
)
Foreign currency translation
(0.5
)
(1.0
)
Ending balance
$
38.9

$
47.0