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Product Warranties (Tables)
9 Months Ended
Sep. 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 EndedNine Months Ended
 September 30,September 30,
 2021202020212020
 (in millions)
   
Beginning balance$64.3 $63.9 $66.7 $62.0 
     Accruals5.7 4.4 14.1 9.2 
Payments(11.7)(3.8)(14.3)(5.8)
     Adjustment to prior period accruals(0.4)(0.1)(8.4)(0.6)
     Foreign currency translation(0.3)0.2 (0.5)(0.2)
Ending balance$57.6 $64.6 $57.6 $64.6