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Accrued Liabilities | 6 Months Ended
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Jun. 30, 2021
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Accrued Liabilities | Accrued Liabilities Accrued liabilities consist of:
(in millions) | June 30, 2021 |  | December 31, 2020
Employee related expenses | $ | 127.9 |  |  | $ | 120.5 |
Warranty | 10.5 |  |  | 8.1 |
Current lease liabilities | 22.8 |  |  | 23.0 |
Contract liabilities | 90.3 |  |  | 103.0 |
Other | 136.9 |  |  | 133.4 |
Total | $ | 388.4 |  |  | $ | 388.0 |
We accrue warranty liabilities when it is probable that an asset has been impaired or a liability has been incurred and the amount of the loss can be reasonably estimated. Warranty provision is included within “Cost of sales” in our Condensed Consolidated Statements of Operations. The following table summarizes warranty activity recorded during the three and six months ended June 30, 2021 and 2020.
| Three Months Ended June 30, | Six Months Ended June 30,
(in millions) | 2021 | 2020 | 2021 | 2020
Balance at beginning of period | $ | 10.2 |  | $ | 9.6 |  | $ | 8.1 |  | $ | 9.8 |
Expense | 2.8 |  | 2.6 |  | 6.0 |  | 5.1 |
Changes due to acquisitions | — |  | 0.3 |  | — |  | 0.3 |
Payments / deductions | (2.4) |  | (3.7) |  | (3.4) |  | (6.4) |
Currency translation | (0.1) |  | — |  | (0.2) |  | — |
Balance at end of period | $ | 10.5 |  | $ | 8.8 |  | $ | 10.5 |  | $ | 8.8 |

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