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Product Warranties (Tables)
3 Months Ended
Mar. 31, 2021
Product Warranties Disclosures [Abstract]  
Schedule of Product Warranty Liability [Table Text Block]
The following table provides a reconciliation of changes in the product warranty liability:
 Three Months Ended
 March 31,
 20212020
 (in millions)
 
Beginning balance$66.7 $62.0 
     Accruals4.3 4.2 
Payments(0.8)(1.3)
     Adjustment to prior period accruals(0.7)(0.1)
     Foreign currency translation(0.4)(0.6)
Ending balance$69.1 $64.2