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Accrued and Other Current Liabilities - Product Warranties (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Change in aggregate product warranty liabilities    
Beginning reserve $ 28.7 $ 31.3
Provision 14.7 17.0
Claims (14.1) (19.4)
Foreign exchange 0.7 (0.2)
Ending reserve $ 30.0 $ 28.7