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Guarantees - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Guarantees    
Deferred revenue included in other current and non-current liabilities $ 51.0 $ 59.5
Amount of residual value guarantees and buyback commitments given by the company $ 52.0 58.9
Standard product warranty, low end of range (in months) 12 months  
Standard product warranty, high end of range (in months) 60 months  
Notes receivable sales and guarantees    
Guarantees    
Sale of long term notes receivable to third party financing companies $ 3.5 17.0
Maximum percent guaranteed by the company for collection of notes to financing companies (as a percent) 100.00%  
Payments related to notes by customers to financing companies $ 12.6 17.3
Outstanding balance of notes receivables guaranteed by the company $ 24.4 $ 34.0