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Warranties (Tables)
 9 Months Ended
Sep. 30, 2014
Commitments and Contingencies Disclosure [Abstract]  
Changes in the accruals for warranties
The changes in the accruals for warranties for the three and nine months ended September 30, 2014 and 2013 are as follows:

 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
 
2014
 
2013
 
2014
 
2013
 
(in millions)
Beginning balance
$
17.1

 
$
13.5

 
$
14.7

 
$
12.5

Warranty costs incurred
(1.7
)
 
(1.6
)
 
(3.8
)
 
(4.6
)
Warranty originations and revisions
4.3

 
3.9

 
10.9

 
9.9

Warranty expirations
(0.7
)
 
(1.0
)
 
(2.8
)
 
(3.0
)
Ending balance
$
19.0

 
$
14.8

 
$
19.0

 
$
14.8