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Product Warranties (Tables)
6 Months Ended
Jun. 30, 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 EndedSix Months Ended
 June 30,June 30,
 2021202020212020
 (in millions)
   
Beginning balance$69.1 $64.2 $66.7 $62.0 
     Accruals4.1 0.6 8.4 4.8 
Payments(1.8)(0.7)(2.6)(2.0)
     Adjustment to prior period accruals(7.3)(0.4)(8.0)(0.5)
     Foreign currency translation0.2 0.2 (0.2)(0.4)
Ending balance$64.3 $63.9 $64.3 $63.9