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Product Warranties | 12 Months Ended
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Dec. 31, 2020
Product Warranties Disclosures [Abstract] |
Product Warranties | Product Warranties We provide product warranties with varying terms and durations for the majority of our products. We estimate our warranty reserve by considering historical and projected warranty claims, historical and projected cost-per-claim, and knowledge of specific product issues that are outside our typical experience. We record warranty expense in cost of sales in the consolidated statements of income. Product warranty claims not expected to occur within one year are included as part of other long-term liabilities in the consolidated balance sheets. The following table represents changes in our consolidated warranty reserve:
| Year Ended December 31,
| 2020 |  | 2019 |  | 2018
Beginning balance | $ | 11.5 |  |  | $ | 8.7 |  |  | $ | 11.6 |
Issued – warranty expense | 6.6 |  |  | 7.4 |  |  | 4.9 |
Change in estimate – warranty expense | — |  |  | — |  |  | (1.6) |
Warranty usage | (6.2) |  |  | (4.6) |  |  | (6.2) |
Ending balance | $ | 11.9 |  |  | $ | 11.5 |  |  | $ | 8.7 |

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- Definition The entire disclosure for standard and extended product warranties and other product guarantee contracts, including a tabular reconciliation of the changes in the guarantor's aggregate product warranty liability for the reporting period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 460 -URI http://asc.fasb.org/topic&trid=2155896 + Details
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